From 80cd2e6c9b03eb078aafe2814ff1c9d2753ac073 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 13 Apr 2014 23:29:12 +0200 Subject: [PATCH] Added fields to range finder clarifying sensor properties --- src/drivers/drv_range_finder.h | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h index cf91f70304..e45939b371 100644 --- a/src/drivers/drv_range_finder.h +++ b/src/drivers/drv_range_finder.h @@ -46,6 +46,10 @@ #define RANGE_FINDER_DEVICE_PATH "/dev/range_finder" +enum RANGE_FINDER_TYPE { + RANGE_FINDER_TYPE_LASER = 0, +}; + /** * range finder report structure. Reads from the device must be in multiples of this * structure. @@ -53,8 +57,11 @@ struct range_finder_report { uint64_t timestamp; uint64_t error_count; - float distance; /** in meters */ - uint8_t valid; /** 1 == within sensor range, 0 = outside sensor range */ + unsigned type; /**< type, following RANGE_FINDER_TYPE enum */ + float distance; /**< in meters */ + float minimum_distance; /**< minimum distance the sensor can measure */ + float maximum_distance; /**< maximum distance the sensor can measure */ + uint8_t valid; /**< 1 == within sensor range, 0 = outside sensor range */ }; /*