ATOF_POINT_DATA

Detected points expressed as Angle and Time of Flight

ID: 3012

Payload Definition

Data Type	Name	Description
u32	pwr_up_msec	time at start of ping, milliseconds since power on
u64	utc_msec	time at start of ping, UTC milliseconds (1970 epoch). Will be 0 if not available.
float	listening_sec	time from start of ping to last range bin
float	sos_mps	speed of sound (meters per second) used in angle calculations
u32	ping_number	assigned sequentially from power on
u32	ping_hz	frequency of the ping signal (hertz)
float	pulse_sec	pulse length in seconds
u32	flags	reserved
u16	num_points	number of points reported in the points field
u16	reserved
atof_t[num_points]	atof_point_data	see below for atof_t definition

struct atof_t {
    float    angle;            // radians, positive to port
    float    tof;              // seconds, time of flight
    u32      reserved[2];
}
// float distance = 0.5 * speed_of_sound * tof_sec;
// float y = distance * sin(angle);
// float z = -distance * cos(angle);