UavcanNode: Add sensor_type to range_sensor pub.

src/drivers/uavcannode/UavcanNode.cpp

@@ -389,7 +389,26 @@ void UavcanNode::Run()
 			range_sensor.sensor_id = i;
 			range_sensor.range = dist.current_distance;
 			range_sensor.field_of_view = dist.h_fov;
-			range_sensor.sensor_type = uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_UNDEFINED;
+
+			// sensor type
+			switch (dist.type) {
+			case distance_sensor_s::MAV_DISTANCE_SENSOR_LASER:
+				range_sensor.sensor_type = uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_LIDAR;
+				break;
+
+			case distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND:
+				range_sensor.sensor_type = uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_SONAR;
+				break;
+
+			case distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR:
+				range_sensor.sensor_type = uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_RADAR;
+				break;
+
+			case distance_sensor_s::MAV_DISTANCE_SENSOR_INFRARED:
+			default:
+				range_sensor.sensor_type = uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_UNDEFINED;
+				break;
+			}
 
 			// reading_type
 			if (dist.current_distance >= dist.max_distance) {