Merge pull request #176 from BluEye-Robotics/av/dvl-raw-data

Add Dvl raw data message

Author: aviggen

protobuf_definitions/message_formats.proto

@@ -422,6 +422,27 @@ enum ResetCoordinateSource {
   RESET_COORDINATE_SOURCE_MANUAL = 2; // Uses a coordinate in decimal degrees to set the reset point
 }
 
+// DVL raw transducer data.
+message DvlTransducer {
+  int32 id = 1; // Transducer ID, 3 beams for Nucleus DVL, 4 beams for DVL A50
+  float velocity = 2; // Velocity (m/s)
+  float distance = 3; // Distance (m)
+  bool beam_valid = 4; // Beam validity
+  float rssi = 5; // Received signal strength indicator: strength of the signal received by this transducer (dBm)
+  float nsd = 6; // Noise spectral density: strength of the background noise received by this transducer (dBm)
+}
+
+// DVL raw velocity data.
+message DvlVelocity {
+  NavigationSensorID sensor_id = 1; // Sensor id
+  int32 status = 2; // Vendor-specific status of the DVL
+  float delta_time = 3; // Time since last velocity measurement (ms)
+  float fom = 4; // Figure of merit, a measure of the accuracy of the velocities (m/s)
+  Vector3 velocity = 5; // Velocity, x forward, y left, z down (m/s)
+  bool is_water_tracking = 6; // Water tracking status
+  repeated DvlTransducer transducers = 7; // List of transducers
+}
+
 // Water depth of the drone.
 message Depth {
   float value = 1; // Drone depth below surface (m)

protobuf_definitions/telemetry.proto

@@ -24,6 +24,11 @@ message ForwardDistanceTel {
   ForwardDistance forward_distance = 1;
 }
 
+// Dvl raw sensor data.
+message DvlVelocityTel {
+  DvlVelocity dvl_velocity = 1; // Dvl velocity data.
+}
+
 // Position estimate of the drone if a DVL or a positioning system is available.
 message PositionEstimateTel {
   PositionEstimate position_estimate = 1;