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# VtePosition (UORB message)

Vision Target Estimator position state, exposing the full per-axis Kalman filter state with covariances for logging and tuning.

Published by: vision_target_estimator (VTEPosition).
Subscribed by: logger only. The position-related fields consumed elsewhere (precision landing, EKF2 aiding) are exposed on landing_target_pose.

vel_target and acc_target are only populated when the firmware is built with CONFIG_VTEST_MOVING=y; otherwise they stay at zero.

**TOPICS:** vte_position

## Fields

| Назва                                                                                   | Тип          | Unit [Frame]                       | Range/Enum | Опис                                           |
| --------------------------------------------------------------------------------------- | ------------ | -------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp                                                     | `uint64`     | us                                                                                     |            | Time since system start                        |
| <a id="fld_rel_pos_valid"></a>rel_pos_valid   | `bool`       |                                                                                        |            | Relative position estimate valid               |
| <a id="fld_rel_vel_valid"></a>rel_vel_valid   | `bool`       |                                                                                        |            | Relative velocity estimate valid               |
| <a id="fld_rel_pos"></a>rel_pos                                    | `float32[3]` | m [NED]                            |            | Target position relative to vehicle            |
| <a id="fld_vel_uav"></a>vel_uav                                    | `float32[3]` | m/s [NED]                          |            | Vehicle velocity                               |
| <a id="fld_vel_target"></a>vel_target                              | `float32[3]` | m/s [NED]                          |            | Target velocity                                |
| <a id="fld_bias"></a>bias                                                               | `float32[3]` | m [NED]                            |            | GNSS bias between vehicle and target receivers |
| <a id="fld_acc_target"></a>acc_target                              | `float32[3]` | m/s^2 [NED]                        |            | Target acceleration                            |
| <a id="fld_cov_rel_pos"></a>cov_rel_pos       | `float32[3]` | m^2 [NED]                          |            | Variance of rel_pos       |
| <a id="fld_cov_vel_uav"></a>cov_vel_uav       | `float32[3]` | (m/s)^2 [NED]   |            | Variance of vel_uav       |
| <a id="fld_cov_bias"></a>cov_bias                                  | `float32[3]` | m^2 [NED]                          |            | Variance of bias                               |
| <a id="fld_cov_vel_target"></a>cov_vel_target | `float32[3]` | (m/s)^2 [NED]   |            | Variance of vel_target    |
| <a id="fld_cov_acc_target"></a>cov_acc_target | `float32[3]` | (m/s^2)^2 [NED] |            | Variance of acc_target    |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VtePosition.msg)

:::details
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```c
# Vision Target Estimator position state, exposing the full per-axis Kalman filter state with covariances for logging and tuning.
#
# Published by: vision_target_estimator (VTEPosition).
# Subscribed by: logger only. The position-related fields consumed elsewhere (precision landing, EKF2 aiding) are exposed on landing_target_pose.
#
# vel_target and acc_target are only populated when the firmware is built with CONFIG_VTEST_MOVING=y; otherwise they stay at zero.

uint64 timestamp # [us] Time since system start

bool rel_pos_valid # [-] Relative position estimate valid
bool rel_vel_valid # [-] Relative velocity estimate valid

float32[3] rel_pos # [m] [@frame NED] Target position relative to vehicle
float32[3] vel_uav # [m/s] [@frame NED] Vehicle velocity
float32[3] vel_target # [m/s] [@frame NED] Target velocity
float32[3] bias # [m] [@frame NED] GNSS bias between vehicle and target receivers
float32[3] acc_target # [m/s^2] [@frame NED] Target acceleration

float32[3] cov_rel_pos # [m^2] [@frame NED] Variance of rel_pos
float32[3] cov_vel_uav # [(m/s)^2] [@frame NED] Variance of vel_uav
float32[3] cov_bias # [m^2] [@frame NED] Variance of bias
float32[3] cov_vel_target # [(m/s)^2] [@frame NED] Variance of vel_target
float32[3] cov_acc_target # [(m/s^2)^2] [@frame NED] Variance of acc_target
```

:::