Data payload format for data of type SENSOR_FORMAT_RADAR_SPHERICAL
Synopsis:
#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;
Data:
- 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.
Library:
libsensor
Description:
The data payload in the sensor_buffer_t data field is an array of these structures.