Updated: May 06, 2022

Data payload format for data of type SENSOR_FORMAT_RADAR_SPHERICAL


#include <sensor/sensor_radar.h>
typedef struct sensor_radar_track_spherical_t {
    uint32_t time_offset;
    int32_t speed;
    uint16_t track_id;
    uint16_t theta;
    uint16_t phi;
    uint32_t rho;
    uint32_t flags;
    int32_t acceleration;
    uint16_t width;
    int16_t lateral_speed;
    uint8_t validity_level;
    uint8_t reserved[3];
} sensor_radar_track_spherical_t;


uint32_t time_offset
Offset from the timestamp in sensor_buffer_t to apply for this object.
int32_t speed
Speed of the object, in millimeters per second (mm/s).
uint16_t track_id
Track identifier associated with this object.
uint16_t theta
Angle, in hundredths of degrees measured downwards from the Z-axis.

The range is 0 to 17999.

uint16_t phi
Angle, in hundredths of degrees measured counterclockwise from the X-axis (the Y-axis is forwards with respect to the sensor).

The range is 0 to 35999.

uint32_t rho
Radial distance, in millimeters (mm) to the data point.
uint32_t flags
Bitfield with values based on the sensor_radar_track_flags_t enumeration.
int32_t acceleration
Acceleration of the object, in millimeters per second squared (mm/s2).
uint16_t width
Width of the object, in millimeters (mm).
int16_t lateral_speed
Lateral speed, in millimeters per second (mm/s).
uint8_t validity_level
Validity level of the target, represented as a percentage value, with 100 being the highest validity.

A higher validity level indicates more confidence in the measurement.

uint8_t reserved[3]
Reserved for future use; do not use.




The data payload in the sensor_buffer_t data field is an array of these structures.