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53 lines
6.5 KiB
Markdown
53 lines
6.5 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# FollowTargetEstimator (UORB message)
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**TOPICS:** follow_target_estimator
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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| -------------------------------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
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| <a id="fld_last_filter_reset_timestamp"></a>last_filter_reset_timestamp | `uint64` | | | time of last filter reset (microseconds) |
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| <a id="fld_valid"></a>valid | `bool` | | | True if estimator states are okay to be used |
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| <a id="fld_stale"></a>stale | `bool` | | | True if estimator stopped receiving follow_target messages for some time. The estimate can still be valid, though it might be inaccurate. |
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| <a id="fld_lat_est"></a>lat_est | `float64` | | | Estimated target latitude |
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| <a id="fld_lon_est"></a>lon_est | `float64` | | | Estimated target longitude |
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| <a id="fld_alt_est"></a>alt_est | `float32` | | | Estimated target altitude |
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| <a id="fld_pos_est"></a>pos_est | `float32[3]` | | | Estimated target NED position (m) |
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| <a id="fld_vel_est"></a>vel_est | `float32[3]` | | | Estimated target NED velocity (m/s) |
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| <a id="fld_acc_est"></a>acc_est | `float32[3]` | | | Estimated target NED acceleration (m^2/s) |
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| <a id="fld_prediction_count"></a>prediction_count | `uint64` | | | |
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| <a id="fld_fusion_count"></a>fusion_count | `uint64` | | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetEstimator.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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uint64 timestamp # time since system start (microseconds)
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uint64 last_filter_reset_timestamp # time of last filter reset (microseconds)
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bool valid # True if estimator states are okay to be used
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bool stale # True if estimator stopped receiving follow_target messages for some time. The estimate can still be valid, though it might be inaccurate.
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float64 lat_est # Estimated target latitude
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float64 lon_est # Estimated target longitude
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float32 alt_est # Estimated target altitude
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float32[3] pos_est # Estimated target NED position (m)
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float32[3] vel_est # Estimated target NED velocity (m/s)
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float32[3] acc_est # Estimated target NED acceleration (m^2/s)
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uint64 prediction_count
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uint64 fusion_count
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```
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:::
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