Struct DistanceSensor

pub struct DistanceSensor {
    pub time_boot_ms: u32,
    pub min_distance: u16,
    pub max_distance: u16,
    pub current_distance: u16,
    pub type_: MavDistanceSensor,
    pub id: u8,
    pub orientation: MavSensorOrientation,
    pub covariance: u8,
    pub horizontal_fov: f32,
    pub vertical_fov: f32,
    pub quaternion: [f32; 4],
    pub signal_quality: u8,
}

MAVLink DISTANCE_SENSOR message.

Minimum supported MAVLink version is MAVLink 1.

Description

Distance sensor information for an onboard rangefinder.

Encoding/Decoding

Message encoding/decoding are provided by implementing core::convert::TryFrom<Payload> for DistanceSensor (encoding) and [IntoPayload] (decoding) traits. These traits are implemented by Message proc macro.

Fields

time_boot_ms: u32

MAVLink field time_boot_ms.

Timestamp (time since system boot).

min_distance: u16

MAVLink field min_distance.

Minimum distance the sensor can measure

max_distance: u16

MAVLink field max_distance.

Maximum distance the sensor can measure

current_distance: u16

MAVLink field current_distance.

Current distance reading

type_: MavDistanceSensor

MAVLink field type.

Type of distance sensor.

id: u8

MAVLink field id.

Onboard ID of the sensor

orientation: MavSensorOrientation

MAVLink field orientation.

Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270

covariance: u8

MAVLink field covariance.

Measurement variance. Max standard deviation is 6cm. UINT8_MAX if unknown.

horizontal_fov: f32

MAVLink field horizontal_fov.

Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.

vertical_fov: f32

MAVLink field vertical_fov.

Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.

quaternion: [f32; 4]

MAVLink field quaternion.

Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid.“

signal_quality: u8

MAVLink field signal_quality.

Signal quality of the sensor. Specific to each sensor type, representing the relation of the signal strength with the target reflectivity, distance, size or aspect, but normalised as a percentage. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.

Implementations

impl DistanceSensor

pub const ID: MessageId = 132u32

MavLink message ID.

pub const fn spec() -> MessageInfo

Returns specification for this message.

pub const fn message_id() -> MessageId

Message ID.

pub const fn crc_extra() -> CrcExtra

Message CRC_EXTRA.

pub const fn min_supported_mavlink_version() -> MavLinkVersion

Minimum supported MAVLink version for this message.

Trait Implementations

impl Clone for DistanceSensor

fn clone(&self) -> DistanceSensor

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for DistanceSensor

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

Formats the value using the given formatter.

impl Default for DistanceSensor

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for DistanceSensor

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl From<DistanceSensor> for Common

fn from(value: DistanceSensor) -> Self

Converts to this type from the input type.

impl IntoPayload for DistanceSensor

fn encode(&self, version: MavLinkVersion) -> Result<Payload, SpecError>

Encodes message into MAVLink payload.

impl MessageSpec for DistanceSensor

fn id(&self) -> MessageId

MAVLink message ID.

fn min_supported_mavlink_version(&self) -> MavLinkVersion

Minimum supported MAVLink protocol version.

fn crc_extra(&self) -> CrcExtra

Message EXTRA_CRC calculated from message XML definition.

impl MessageSpecStatic for DistanceSensor

fn spec() -> MessageInfo

Returns specification for this message.

fn message_id() -> MessageId

Message ID.

fn crc_extra() -> CrcExtra

Message CRC_EXTRA.

fn min_supported_mavlink_version() -> MavLinkVersion

Minimum supported MAVLink version for this message.

impl NamedType for DistanceSensor

fn sid() -> SpectaID

fn named_data_type( type_map: &mut TypeCollection, generics: &[DataType], ) -> NamedDataType

this is equivalent to Type::inline but returns a NamedDataType instead.

fn definition_named_data_type(type_map: &mut TypeCollection) -> NamedDataType

this is equivalent to [Type::definition] but returns a NamedDataType instead.

impl PartialEq for DistanceSensor

fn eq(&self, other: &DistanceSensor) -> 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 DistanceSensor

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl TryFrom<&Payload> for DistanceSensor

type Error = SpecError

The type returned in the event of a conversion error.

fn try_from(value: &Payload) -> Result<Self, Self::Error>

Performs the conversion.

impl Type for DistanceSensor

fn inline(type_map: &mut TypeCollection, generics: Generics<'_>) -> DataType

Returns the definition of a type using the provided generics.

fn reference(type_map: &mut TypeCollection, generics: &[DataType]) -> Reference

Generates a datatype corresponding to a reference to this type, as determined by its category. Getting a reference to a type implies that it should belong in the type map (since it has to be referenced from somewhere), so the output of definition will be put into the type map.

impl Flatten for DistanceSensor

impl Message for DistanceSensor

impl StructuralPartialEq for DistanceSensor