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Add PublishDistanceSensor to Telemetry Server #310

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merged 7 commits into from
Jan 31, 2023
Merged

Add PublishDistanceSensor to Telemetry Server #310

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ef721c5
add PublishDistanceSensor()
potaito Jan 26, 2023
226f9e7
add distance measurements in cm
potaito Jan 27, 2023
e4a15da
Update telemetry.proto
potaito Jan 30, 2023
5c2a08a
Update telemetry_server.proto
potaito Jan 30, 2023
96dd39f
Revert "Update telemetry_server.proto"
potaito Jan 31, 2023
bf79cab
Revert "Update telemetry.proto"
potaito Jan 31, 2023
240ebee
Revert "add distance measurements in cm"
potaito Jan 31, 2023
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9 changes: 6 additions & 3 deletions protos/telemetry/telemetry.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand Down
19 changes: 16 additions & 3 deletions protos/telemetry_server/telemetry_server.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,8 @@ service TelemetryServerService {
rpc PublishRawImu(PublishRawImuRequest) returns(PublishRawImuResponse) { option (mavsdk.options.async_type) = SYNC; }
// Publish to 'unix epoch time' updates.
rpc PublishUnixEpochTime(PublishUnixEpochTimeRequest) returns(PublishUnixEpochTimeResponse) { option (mavsdk.options.async_type) = SYNC; }
// Publish to "distance sensor" updates.
rpc PublishDistanceSensor(PublishDistanceSensorRequest) returns(PublishDistanceSensorResponse) { option (mavsdk.options.async_type) = SYNC; }
}

message PublishPositionRequest {
Expand Down Expand Up @@ -119,6 +121,10 @@ message PublishUnixEpochTimeRequest {
uint64 time_us = 1; // The next 'unix epoch time' status
}

message PublishDistanceSensorRequest {
DistanceSensor distance_sensor = 1; // The next 'Distance Sensor' status
}

message PublishPositionResponse {
TelemetryServerResult telemetry_server_result = 1;
}
Expand Down Expand Up @@ -177,6 +183,10 @@ message PublishUnixEpochTimeResponse {
TelemetryServerResult telemetry_server_result = 1;
}

message PublishDistanceSensorResponse {
TelemetryServerResult telemetry_server_result = 1;
}

// Position type in global coordinates.
message Position {
double latitude_deg = 1 [(mavsdk.options.default_value)="NaN"]; // Latitude in degrees (range: -90 to +90)
Expand Down Expand Up @@ -381,9 +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.
Expand Down