mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-27 00:48:23 +08:00
49 lines
2.2 KiB
Markdown
49 lines
2.2 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# VteOrientation (UORB message)
|
|
|
|
Vision Target Estimator orientation state, exposing the full yaw filter output with covariances for logging and tuning.
|
|
|
|
Published by: vision_target_estimator (VTEOrientation).
|
|
Subscribed by: logger only. The orientation-related fields consumed elsewhere (precision landing) are exposed on landing_target_pose.
|
|
|
|
**TOPICS:** vte_orientation
|
|
|
|
## Fields
|
|
|
|
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
|
| --------------------------------------------------- | --------- | ------------ | ---------- | ----------------------------------- |
|
|
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
|
|
| <a id="fld_orientation_valid"></a>orientation_valid | `bool` | | | Relative orientation estimate valid |
|
|
| <a id="fld_yaw"></a>yaw | `float32` | rad [NED] | | Target yaw angle |
|
|
| <a id="fld_cov_yaw"></a>cov_yaw | `float32` | rad^2 | | Variance of yaw |
|
|
| <a id="fld_yaw_rate"></a>yaw_rate | `float32` | rad/s [NED] | | Target yaw rate |
|
|
| <a id="fld_cov_yaw_rate"></a>cov_yaw_rate | `float32` | (rad/s)^2 | | Variance of yaw_rate |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VteOrientation.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
# Vision Target Estimator orientation state, exposing the full yaw filter output with covariances for logging and tuning.
|
|
#
|
|
# Published by: vision_target_estimator (VTEOrientation).
|
|
# Subscribed by: logger only. The orientation-related fields consumed elsewhere (precision landing) are exposed on landing_target_pose.
|
|
|
|
uint64 timestamp # [us] Time since system start
|
|
|
|
bool orientation_valid # [-] Relative orientation estimate valid
|
|
|
|
float32 yaw # [rad] [@frame NED] Target yaw angle
|
|
float32 cov_yaw # [rad^2] Variance of yaw
|
|
|
|
float32 yaw_rate # [rad/s] [@frame NED] Target yaw rate
|
|
float32 cov_yaw_rate # [(rad/s)^2] Variance of yaw_rate
|
|
```
|
|
|
|
:::
|