Merge pull request #246 from BluEye-Robotics/add-turbidity-filter

Add turbidity filter messages

Author: jp-pino

protobuf_definitions/control.proto

@@ -225,4 +225,9 @@ message EndDiveCtrl {
 // Warning: The drone will delete any partitions and format the drive with a single exFat partition.
 // Any data on the drive will be lost.
 message FormatRemovableStorageDeviceCtrl {
-}
+}
+
+// Message sent when the user wants to set turbidity filter settings.
+message SetTurbidityFilter {
+  TurbidityFilter turbidity_filter = 1; // Message with the turbidity filter settings to set.
+}

protobuf_definitions/message_formats.proto

@@ -1313,3 +1313,9 @@ message SurfaceUnitBatteryInfo {
 message SurfaceUnitVersionInfo {
   string version = 1; // Surface Unit firmware version (x.y.z).
 }
+
+// Turbidity filter settings.
+message TurbidityFilter {
+  bool enabled = 1; // If the turbidity filter is enabled.
+  float intensity = 2; // Intensity of the turbidity filter (0..1).
+}

protobuf_definitions/telemetry.proto

@@ -199,12 +199,12 @@ message ErrorFlagsTel {
 
 // Receive the current state of the control system.
 message ControlModeTel {
-  ControlMode state = 1;  // State of the control system.
+  ControlMode state = 1; // State of the control system.
 }
 
 // Thickness gauge measurement telemetry message.
 message ThicknessGaugeTel {
-  ThicknessGauge thickness_gauge = 1;  // Thickness measurement with a cygnus gauge.
+  ThicknessGauge thickness_gauge = 1; // Thickness measurement with a cygnus gauge.
 }
 
 // Cathodic Protection Potential probe telemetry message
@@ -313,3 +313,10 @@ message LogEntryTel {
     KernelLogEntry kernel = 2; // Kernel log entry.
   }
 }
+
+// Turbidity filter settings telemetry message.
+//
+// Message is published when the filter settings are changed.
+message TurbidityFilterTel {
+  TurbidityFilter turbidity_filter = 1; // Turbidity filter settings.
+}