Distance sensor server

[potaito]

Related PRs

• Proto: Add PublishDistanceSensor to Telemetry Server MAVSDK-Proto#310
• MAVSDK: Distance sensor server #1964 (this PR)

Description

Implements the publisher for distance sensor measurements. Need to merge Proto changes first.

[potaito]

I'm getting a diff in auto-generated code that is related to this change in Proto that was not accounted for in MAVSDK yet: mavlink/MAVSDK-Proto#306

git status
On branch potaito/distance-sensor-server
Changes not staged for commit:
  (use "git add <file>..." to update what will be committed)
  (use "git restore <file>..." to discard changes in working directory)
	modified:   src/mavsdk/plugins/camera/camera.cpp
	modified:   src/mavsdk/plugins/camera/include/plugins/camera/camera.h
	modified:   src/mavsdk_server/src/generated/camera/camera.pb.cc
	modified:   src/mavsdk_server/src/generated/camera/camera.pb.h
	modified:   src/mavsdk_server/src/plugins/camera/camera_service_impl.h

How should we go about this? I could commit the diff since the changes don't include new logic, just a new enum field for RESULT_PROTOCOL_UNSUPPORTED that was added in the aforementioned PR in MAVSDK-Proto.
The logic that would actually do something with the field would still need to be implemented by @julianoes or someone else.

[JonasVautherin]

How should we go about this? I could commit the diff since the changes don't include new logic

Yeah I'd say just commit it, it's not breaking anything, just adding an enum value 👍

[potaito]

Good to go from my end. The message is currently quite limited since in MAVSDK-Proto only the most basic fields of DISTANCE_SENSOR are defined. I can extend the message definition at a later point.

This is what the current implementation sends out with the example values

• min distance: 0.1m
• max distance: 25m
• current distance: 16m

Payload: DISTANCE_SENSOR (132)
    time_boot_ms (uint32): 0
    min_distance (uint16): 10
    max_distance (uint16): 2500
    current_distance (uint16): 1600
    type (uint8): 4            <- UNKNOWN sensor type
    id (uint8): 0
    orientation (uint8): 0     <- ORIENTATION_NONE
    covariance (uint8): 255    <- INVALID covariance
    horizontal_fov (float): 0  <- UNKNOWN field of view
    vertical_fov (float): 0    <- UNKNOWN field of view
    quaternion[0] (float): 0   <- INVALID quaternion
    quaternion[1] (float): 0
    quaternion[2] (float): 0
    quaternion[3] (float): 0
    signal_quality (uint8): 0  <- UNKNOWN signal quality