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15 lines
786 B
Plaintext
15 lines
786 B
Plaintext
# Relative position of a precision-landing target detected by a vision pipeline (e.g. an ArUco marker).
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#
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# Published by: vision pipelines (on-board or off-board over MAVLink TARGET_RELATIVE), decoded in mavlink_receiver.
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# Subscribed by: vision_target_estimator (VTEPosition).
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#
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# The measurement is expressed in an arbitrary sensor frame; the quaternion q rotates it into the NED earth frame.
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Timestamp of the raw observation
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float32[3] rel_pos # [m] Target position relative to vehicle, expressed in the frame defined by q
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float32[3] cov_rel_pos # [m^2] Target position variance, expressed in the frame defined by q
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float32[4] q # [-] Quaternion rotation from the rel_pos frame to the NED earth frame
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