I am trying to make the CubeOrange(Plus) working with the terabee tower hub. I want to have collision avoidance with no companion computer. I already wrote a driver for the terabee module that configures the sensor and reads and interprets the data of the sensor. The Values are then published via uorb on the obstacle_distance topic with 50 Hz:
uorb top obstacle_distance
e[0Jupdate: 1s, topics: 213, total publications: 49, 8.2 kB/s
TOPIC NAME INST #SUB RATE #Q SIZE
obstacle_distance 0 0 49 1 168
listener obstacle_distance
TOPIC: obstacle_distance
obstacle_distance
timestamp: 534476622 (0.026016 seconds ago)
increment: 45.00000
angle_offset: 0.00000
distances: [0, 102, 51, 0, 0, 0, 162, 234, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535]
min_distance: 50
max_distance: 600
frame: 12
sensor_type: 2
As far as i understand this is also a MAVLINK topic, on which the collision prevention code works on:
The feature requires obstacle information from an external system (sent using the MAVLink OBSTACLE_DISTANCE (opens new window) message) and/or a distance sensor connected to the flight controller.
In QGroundControl when i select the MAVLink Inspector my topic (OBSTACLE_DISTANCE) is not shown.
How do i make the connection between the collision prevention and my sensor data?