LandingTargetPose (UORB message)

Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames.

TOPICS: landing_target_pose

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64	us		Time since system start
is_static	bool			Flag indicating whether the landing target is static or moving with respect to the ground
rel_pos_valid	bool			Flag showing whether relative position is valid
rel_vel_valid	bool			Flag showing whether relative velocity is valid
rel_vel_ekf2_valid	bool			Flag showing whether relative velocity is valid for EKF2 auxiliary velocity aiding
x_rel	float32	米		X/north position of target, relative to vehicle (navigation frame)
y_rel	float32	米		Y/east position of target, relative to vehicle (navigation frame)
z_rel	float32	米		Z/down position of target, relative to vehicle (navigation frame)
vx_rel	float32	米/秒		X/north velocity of target, relative to vehicle (navigation frame)
vy_rel	float32	米/秒		Y/east velocity of target, relative to vehicle (navigation frame)
vz_rel	float32	米/秒		Z/down velocity of target, relative to vehicle (navigation frame)
cov_x_rel	float32	m^2		X/north position variance
cov_y_rel	float32	m^2		Y/east position variance
cov_z_rel	float32	m^2		Z/down position variance
cov_vx_rel	float32	(m/s)^2		X/north velocity variance
cov_vy_rel	float32	(m/s)^2		Y/east velocity variance
cov_vz_rel	float32	(m/s)^2		Z/down velocity variance
abs_pos_valid	bool			Flag showing whether absolute position is valid
x_abs	float32	米		X/north position of target, relative to origin (navigation frame)
y_abs	float32	米		Y/east position of target, relative to origin (navigation frame)
z_abs	float32	米		Z/down position of target, relative to origin (navigation frame)

Source Message

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# Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames

uint64 timestamp # [us] Time since system start

bool is_static # [-] Flag indicating whether the landing target is static or moving with respect to the ground

bool rel_pos_valid # [-] Flag showing whether relative position is valid
bool rel_vel_valid # [-] Flag showing whether relative velocity is valid
bool rel_vel_ekf2_valid # [-] Flag showing whether relative velocity is valid for EKF2 auxiliary velocity aiding

float32 x_rel # [m] X/north position of target, relative to vehicle (navigation frame)
float32 y_rel # [m] Y/east position of target, relative to vehicle (navigation frame)
float32 z_rel # [m] Z/down position of target, relative to vehicle (navigation frame)

float32 vx_rel # [m/s] X/north velocity of target, relative to vehicle (navigation frame)
float32 vy_rel # [m/s] Y/east velocity of target, relative to vehicle (navigation frame)
float32 vz_rel # [m/s] Z/down velocity of target, relative to vehicle (navigation frame)

float32 cov_x_rel # [m^2] X/north position variance
float32 cov_y_rel # [m^2] Y/east position variance
float32 cov_z_rel # [m^2] Z/down position variance

float32 cov_vx_rel # [(m/s)^2] X/north velocity variance
float32 cov_vy_rel # [(m/s)^2] Y/east velocity variance
float32 cov_vz_rel # [(m/s)^2] Z/down velocity variance

bool abs_pos_valid # [-] Flag showing whether absolute position is valid

float32 x_abs # [m] X/north position of target, relative to origin (navigation frame)
float32 y_abs # [m] Y/east position of target, relative to origin (navigation frame)
float32 z_abs # [m] Z/down position of target, relative to origin (navigation frame)