Struct mavlink::common::OBSTACLE_DISTANCE_DATA

pub struct OBSTACLE_DISTANCE_DATA {
    pub time_usec: u64,
    pub distances: [u16; 72],
    pub min_distance: u16,
    pub max_distance: u16,
    pub sensor_type: MavDistanceSensor,
    pub increment: u8,
    pub increment_f: f32,
    pub angle_offset: f32,
    pub frame: MavFrame,
}

Available on crate feature common only.

id: 330 Obstacle distances in front of the sensor, starting from the left in increment degrees to the right.

Fields

time_usec: u64

Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number..

distances: [u16; 72]

Distance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm..

min_distance: u16

Minimum distance the sensor can measure..

max_distance: u16

Maximum distance the sensor can measure..

sensor_type: MavDistanceSensor

Class id of the distance sensor type..

increment: u8

Angular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero..

increment_f: f32

Angular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise..

angle_offset: f32

Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise..

frame: MavFrame

Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is north aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned..

Implementations

impl OBSTACLE_DISTANCE_DATA

pub const ENCODED_LEN: usize = 167usize

pub const DEFAULT: Self = _

Trait Implementations

impl Clone for OBSTACLE_DISTANCE_DATA

fn clone(&self) -> OBSTACLE_DISTANCE_DATA

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for OBSTACLE_DISTANCE_DATA

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for OBSTACLE_DISTANCE_DATA

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for OBSTACLE_DISTANCE_DATA

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl MessageData for OBSTACLE_DISTANCE_DATA

const ID: u32 = 330u32

const NAME: &'static str = "OBSTACLE_DISTANCE"

const EXTRA_CRC: u8 = 23u8

const ENCODED_LEN: usize = 167usize

type Message = MavMessage

fn deser(_version: MavlinkVersion, __input: &[u8]) -> Result<Self, ParserError>

fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize

impl PartialEq for OBSTACLE_DISTANCE_DATA

fn eq(&self, other: &OBSTACLE_DISTANCE_DATA) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for OBSTACLE_DISTANCE_DATA

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for OBSTACLE_DISTANCE_DATA