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https://github.com/PX4/PX4-Autopilot.git
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68 lines
4.7 KiB
Markdown
68 lines
4.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VtePosition (UORB message)
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Vision Target Estimator position state, exposing the full per-axis Kalman filter state with covariances for logging and tuning.
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Published by: vision_target_estimator (VTEPosition).
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Subscribed by: logger only. The position-related fields consumed elsewhere (precision landing, EKF2 aiding) are exposed on landing_target_pose.
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vel_target and acc_target are only populated when the firmware is built with CONFIG_VTEST_MOVING=y; otherwise they stay at zero.
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**TOPICS:** vte_position
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| --------------------------------------------------------------------------------------- | ------------ | -------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
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| <a id="fld_rel_pos_valid"></a>rel_pos_valid | `bool` | | | Relative position estimate valid |
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| <a id="fld_rel_vel_valid"></a>rel_vel_valid | `bool` | | | Relative velocity estimate valid |
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| <a id="fld_rel_pos"></a>rel_pos | `float32[3]` | m [NED] | | Target position relative to vehicle |
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| <a id="fld_vel_uav"></a>vel_uav | `float32[3]` | m/s [NED] | | Vehicle velocity |
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| <a id="fld_vel_target"></a>vel_target | `float32[3]` | m/s [NED] | | Target velocity |
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| <a id="fld_bias"></a>bias | `float32[3]` | m [NED] | | GNSS bias between vehicle and target receivers |
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| <a id="fld_acc_target"></a>acc_target | `float32[3]` | m/s^2 [NED] | | Target acceleration |
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| <a id="fld_cov_rel_pos"></a>cov_rel_pos | `float32[3]` | m^2 [NED] | | Variance of rel_pos |
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| <a id="fld_cov_vel_uav"></a>cov_vel_uav | `float32[3]` | (m/s)^2 [NED] | | Variance of vel_uav |
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| <a id="fld_cov_bias"></a>cov_bias | `float32[3]` | m^2 [NED] | | Variance of bias |
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| <a id="fld_cov_vel_target"></a>cov_vel_target | `float32[3]` | (m/s)^2 [NED] | | Variance of vel_target |
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| <a id="fld_cov_acc_target"></a>cov_acc_target | `float32[3]` | (m/s^2)^2 [NED] | | Variance of acc_target |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VtePosition.msg)
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:::details
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Click here to see original file
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```c
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# Vision Target Estimator position state, exposing the full per-axis Kalman filter state with covariances for logging and tuning.
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#
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# Published by: vision_target_estimator (VTEPosition).
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# Subscribed by: logger only. The position-related fields consumed elsewhere (precision landing, EKF2 aiding) are exposed on landing_target_pose.
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#
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# vel_target and acc_target are only populated when the firmware is built with CONFIG_VTEST_MOVING=y; otherwise they stay at zero.
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uint64 timestamp # [us] Time since system start
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bool rel_pos_valid # [-] Relative position estimate valid
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bool rel_vel_valid # [-] Relative velocity estimate valid
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float32[3] rel_pos # [m] [@frame NED] Target position relative to vehicle
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float32[3] vel_uav # [m/s] [@frame NED] Vehicle velocity
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float32[3] vel_target # [m/s] [@frame NED] Target velocity
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float32[3] bias # [m] [@frame NED] GNSS bias between vehicle and target receivers
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float32[3] acc_target # [m/s^2] [@frame NED] Target acceleration
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float32[3] cov_rel_pos # [m^2] [@frame NED] Variance of rel_pos
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float32[3] cov_vel_uav # [(m/s)^2] [@frame NED] Variance of vel_uav
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float32[3] cov_bias # [m^2] [@frame NED] Variance of bias
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float32[3] cov_vel_target # [(m/s)^2] [@frame NED] Variance of vel_target
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float32[3] cov_acc_target # [(m/s^2)^2] [@frame NED] Variance of acc_target
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```
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:::
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