Skip to content

Commit

Permalink
Update docs with ExternalController info
Browse files Browse the repository at this point in the history
  • Loading branch information
rajat2004 committed Feb 6, 2021
1 parent 819dd2e commit 0f22796
Show file tree
Hide file tree
Showing 2 changed files with 8 additions and 6 deletions.
1 change: 1 addition & 0 deletions docs/lidar.md
Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@ VerticalFOVLower | Vertical FOV lower limit for the lidar, in degrees
X Y Z | Position of the lidar relative to the vehicle (in NED, in meters)
Roll Pitch Yaw | Orientation of the lidar relative to the vehicle (in degrees, yaw-pitch-roll order to front vector +X)
DataFrame | Frame for the points in output ("VehicleInertialFrame" or "SensorLocalFrame")
ExternalController | Whether data is to be sent to external controller such as ArduPilot or PX4 if being used (default `true`)

e.g.,
```
Expand Down
13 changes: 7 additions & 6 deletions docs/sensors.md
Original file line number Diff line number Diff line change
Expand Up @@ -111,12 +111,13 @@ By default, Distance Sensor points to the front of the vehicle. It can be pointe

Configurable Parameters -

Parameter | Description
-----------------|------------
X Y Z | Position of the sensor relative to the vehicle (in NED, in meters) (Default (0,0,0)-Multirotor, (0,0,-1)-Car)
Yaw Pitch Roll | Orientation of the sensor relative to the vehicle (degrees) (Default (0,0,0))
MinDistance | Minimum distance measured by distance sensor (metres, only used to fill Mavlink message for PX4) (Default 0.2m)
MaxDistance | Maximum distance measured by distance sensor (metres) (Default 40.0m)
Parameter | Description
--------------------|------------
X Y Z | Position of the sensor relative to the vehicle (in NED, in meters) (Default (0,0,0)-Multirotor, (0,0,-1)-Car)
Yaw Pitch Roll | Orientation of the sensor relative to the vehicle (degrees) (Default (0,0,0))
MinDistance | Minimum distance measured by distance sensor (metres, only used to fill Mavlink message for PX4) (Default 0.2m)
MaxDistance | Maximum distance measured by distance sensor (metres) (Default 40.0m)
ExternalController | Whether data is to be sent to external controller such as ArduPilot or PX4 if being used (default `true`)

For example, to make the sensor point towards the ground (for altitude measurement similar to barometer), the orientation can be modified as follows -

Expand Down

0 comments on commit 0f22796

Please sign in to comment.