From 226f9e7cf6538399e284ac826d8268267aa4add4 Mon Sep 17 00:00:00 2001 From: Alessandro Simovic Date: Fri, 27 Jan 2023 11:27:47 +0100 Subject: [PATCH] add distance measurements in cm As per the discusison in https://github.com/mavlink/MAVSDK-Proto/pull/310 the existing message struct contains distance measurements specified to be in meters, which is incorrect. Users who are currently accessing this API are receiving the measurements in centimeters. --- protos/telemetry/telemetry.proto | 9 ++++++--- protos/telemetry_server/telemetry_server.proto | 9 ++++++--- 2 files changed, 12 insertions(+), 6 deletions(-) diff --git a/protos/telemetry/telemetry.proto b/protos/telemetry/telemetry.proto index 6dc1bff61..3e6630572 100644 --- a/protos/telemetry/telemetry.proto +++ b/protos/telemetry/telemetry.proto @@ -739,9 +739,12 @@ message Odometry { // DistanceSensor message type. message DistanceSensor { - float minimum_distance_m = 1 [(mavsdk.options.default_value)="NaN"]; // Minimum distance the sensor can measure, NaN if unknown. - float maximum_distance_m = 2 [(mavsdk.options.default_value)="NaN"]; // Maximum distance the sensor can measure, NaN if unknown. - float current_distance_m = 3 [(mavsdk.options.default_value)="NaN"]; // Current distance reading, NaN if unknown. + float minimum_distance_m = 1 [(mavsdk.options.default_value)="NaN"]; // OBSOLETE: This was a typo in the naming. + float maximum_distance_m = 2 [(mavsdk.options.default_value)="NaN"]; // OBSOLETE: This was a typo in the naming. + float current_distance_m = 3 [(mavsdk.options.default_value)="NaN"]; // OBSOLETE: This was a typo in the naming. + float minimum_distance_cm = 1 [(mavsdk.options.default_value)="NaN"]; // Minimum distance the sensor can measure, NaN if unknown. + float maximum_distance_cm = 2 [(mavsdk.options.default_value)="NaN"]; // Maximum distance the sensor can measure, NaN if unknown. + float current_distance_cm = 3 [(mavsdk.options.default_value)="NaN"]; // Current distance reading, NaN if unknown. } // Scaled Pressure message type. diff --git a/protos/telemetry_server/telemetry_server.proto b/protos/telemetry_server/telemetry_server.proto index c574d4438..13599ce0a 100644 --- a/protos/telemetry_server/telemetry_server.proto +++ b/protos/telemetry_server/telemetry_server.proto @@ -391,9 +391,12 @@ message Odometry { // DistanceSensor message type. message DistanceSensor { - float minimum_distance_m = 1 [(mavsdk.options.default_value)="NaN"]; // Minimum distance the sensor can measure, NaN if unknown. - float maximum_distance_m = 2 [(mavsdk.options.default_value)="NaN"]; // Maximum distance the sensor can measure, NaN if unknown. - float current_distance_m = 3 [(mavsdk.options.default_value)="NaN"]; // Current distance reading, NaN if unknown. + float minimum_distance_m = 1 [(mavsdk.options.default_value)="NaN"]; // OBSOLETE: This was a typo in the naming. + float maximum_distance_m = 2 [(mavsdk.options.default_value)="NaN"]; // OBSOLETE: This was a typo in the naming. + float current_distance_m = 3 [(mavsdk.options.default_value)="NaN"]; // OBSOLETE: This was a typo in the naming. + float minimum_distance_cm = 1 [(mavsdk.options.default_value)="NaN"]; // Minimum distance the sensor can measure, NaN if unknown. + float maximum_distance_cm = 2 [(mavsdk.options.default_value)="NaN"]; // Maximum distance the sensor can measure, NaN if unknown. + float current_distance_cm = 3 [(mavsdk.options.default_value)="NaN"]; // Current distance reading, NaN if unknown. } // Scaled Pressure message type.