transducer msgs (#27)

Author: jorgenfj

CMakeLists.txt

@@ -25,6 +25,8 @@ set(msg_files
   "msg/ReferenceFilter.msg"
   "msg/DVLAltitude.msg"
   "msg/Waypoints.msg"
+  "msg/Transducer.msg"
+  "msg/TransducerArray.msg"
 )
 
 set(srv_files

msg/Transducer.msg

@@ -0,0 +1,7 @@
+# DVL-A50 protocol documentation: https://docs.waterlinked.com/dvl/dvl-protocol/
+int32 id # Transducer number
+float64 velocity # Velocity in the direction of the transducer (m/s) 0 if invalid
+float64 distance # Distance (parallel to the transducer beam, i.e. not the vertical distance) to the reflecting surface from this transducer (m) -1 if invalid
+float64 rssi # Received signal strength indicator: strength of the signal received by this transducer (dBm)
+float64 nsd # Noise spectral density: strength of the background noise received by this transducer (dBm)
+bool beam_valid

msg/TransducerArray.msg

@@ -0,0 +1,5 @@
+std_msgs/Header header
+
+Transducer[] transducers
+int64 time_of_validity # Timestamp of the surface reflection, aka 'center of ping' (Unix timestamp in microseconds)
+int64 time_of_transmission # Timestamp from immediately before sending of the report over TCP (Unix timestamp in microseconds)