Going back a few posts here - How do you convert the raw profile data into normal measurements? I think there is another recent post effectively asking the same question?
Hi Andrew,
The profile message contains the following fields:
| Type | Name | Description | Units |
|---|---|---|---|
| u32 | distance | The current return distance determined for the most recent acoustic measurement. | mm |
| u16 | confidence | Confidence in the most recent range measurement. | % |
| u16 | transmit_duration | The acoustic pulse length during acoustic transmission/activation. | us |
| u32 | ping_number | The pulse/measurement count since boot. | |
| u32 | scan_start | The beginning of the scan region in mm from the transducer. | mm |
| u32 | scan_length | The length of the scan region. | mm |
| u32 | gain_setting | The current gain setting. 0: 0.6, 1: 1.8, 2: 5.5, 3: 12.9, 4: 30.2, 5: 66.1, 6: 144 | |
| u16 | profile_data_length | The length of the proceeding vector field | |
u8[] |
profile_data | An array of return strength measurements taken at regular intervals across the scan region. |
As you can check here: ping1d - Ping Protocol
The distance will provide the measurements that you are looking for.
The confidence provides how likely is this distance to be correct using the sensor algorithms.
scan_start and scan_length points where the profile_data was taken with a scan_length resolution inside this range.
If you want to calculate the distance based in the raw profile_data, you’ll need to figure out your own algorithm.