distance_sensor: minor changes

ROMFS/px4fmu_common/init.d/rc.usb

@@ -9,6 +9,7 @@ mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 300
 mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50
 mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
 mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW_RAD -r 10
+mavlink stream -d /dev/ttyACM0 -s DISTANCE_SENSOR -r 10
 mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
 mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
 mavlink stream -d /dev/ttyACM0 -s ACTUATOR_CONTROL_TARGET0 -r 30

src/drivers/drv_range_finder.h

@@ -49,7 +49,7 @@
 #define MB12XX_MAX_RANGEFINDERS	12	// Maximum number of Maxbotix sensors on bus
 
 /*
- * ObjDev tag for px4flow data.
+ * ObjDev tag for distance sensor data.
  */
 ORB_DECLARE(distance_sensor);
 

src/modules/mavlink/mavlink_receiver.cpp

@@ -420,7 +420,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	struct distance_sensor_s d;
 	memset(&d, 0, sizeof(d));
 
-	d.time_boot_ms = hrt_absolute_time();
+	d.time_boot_ms = flow.integration_time_us;
 	d.min_distance = 0.3f;
 	d.max_distance = 5.0f;
 	d.current_distance = flow.distance;

src/modules/sdlog2/sdlog2_messages.h

@@ -488,7 +488,6 @@ struct log_PARM_s {
 };
 
 #pragma pack(pop)
-
 /* construct list of all message formats */
 static const struct log_format_s log_formats[] = {
 	/* business-level messages, ID < 0x80 */
@@ -516,7 +515,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(ESC, "HBBBHHffiffH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 	LOG_FORMAT(GVSP, "fff",			"VX,VY,VZ"),
 	LOG_FORMAT(BATT, "ffff",		"V,VFilt,C,Discharged"),
-	LOG_FORMAT(DIST, "ffB",			"Bottom,BottomRate,Flags"),
+	LOG_FORMAT(DIST, "iiff",			"Type,Orientation,Distance,Covariance"),
 	LOG_FORMAT_S(TEL0, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
 	LOG_FORMAT_S(TEL1, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
 	LOG_FORMAT_S(TEL2, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),