sonar.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
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/*******************************************************************************
 * \file sonar.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief Definition of structure for sonar, independent of the sensor used
 *
 ******************************************************************************/


#ifndef SONAR_H_
#define SONAR_H_

#ifdef __cplusplus
    extern "C" {
#endif

#include <stdint.h>
#include <stdbool.h>
#include "quaternions.h"

typedef struct 
{
    uint32_t last_update;       
    quat_t  orientation;        
    float   min_distance;       
    float   max_distance;       
    float   current_distance;   
    float   covariance;         
    bool    healthy;            
} sonar_t;


#ifdef __cplusplus
    }
#endif

#endif /* SONAR_H */