This class gives state information about the product's vision sensors used for obstacle detection. The two types of sensors used are dual camera sensors operating in the visible spectrum (dual-camera sensor) and infrared time of flight (TOF) sensors. Note, Inspire 2's upwards-facing infrared TOF sensor is not returned in this state. It is accessed through VisionControlState.
The vision sensor's position on the aircraft. For Phantom 4 Pro, there are 4 vision sensors on the aircraft. The sensors on the nose and tail are dual-camera sensors. The sensors on the left and right are infrared time-of-flight (TOF) sensors.
The distance to the closest detected obstacle, in meters. It is only used when the sensor is an infrared TOF sensor. The valid range is [0.3, 5.0]. Phantom 4 Pro has two infrared sensors on its left and right. Both sensors have a 70-degree horizontal field of view (FOV) and 20-degree vertical FOV. The value is always 0.0 if the sensor is a dual-camera sensor or the sensor is not working properly.
The vision system can see in front of the aircraft with a 70 degree horizontal field of view (FOV) and 55-degree vertical FOV for the Phantom 4. The horizontal FOV is split into four equal sectors and this array contains the distance and warning information for each sector. For Phantom 4, the horizontal FOV is separated into 4 sectors.