static void mavlink_send_sonar(void) { if (_sonar_present) { mavlink_msg_distance_sensor_send(MAVLINK_COMM_0, _sonar_time, 24, 822, _sonar_range, MAV_DISTANCE_SENSOR_ULTRASOUND, 1, MAV_SENSOR_ROTATION_PITCH_180, 1); } }
void send(const hrt_abstime t) { if (range_sub->update(t)) { uint8_t type; switch (range->type) { case RANGE_FINDER_TYPE_LASER: type = MAV_DISTANCE_SENSOR_LASER; break; } uint8_t id = 0; uint8_t orientation = 0; uint8_t covariance = 20; mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance); } }