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79 lines
8.1 KiB
Markdown
79 lines
8.1 KiB
Markdown
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pageClass: is-wide-page
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---
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# LandingTargetPose (повідомлення UORB)
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Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames.
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**TOPICS:** landing_target_pose
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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` | us | | Time since system start |
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| <a id="fld_is_static"></a>is_static | `bool` | | | Flag indicating whether the landing target is static or moving with respect to the ground |
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| <a id="fld_rel_pos_valid"></a>rel_pos_valid | `bool` | | | Flag showing whether relative position is valid |
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| <a id="fld_rel_vel_valid"></a>rel_vel_valid | `bool` | | | Flag showing whether relative velocity is valid |
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| <a id="fld_rel_vel_ekf2_valid"></a>rel_vel_ekf2_valid | `bool` | | | Flag showing whether relative velocity is valid for EKF2 auxiliary velocity aiding |
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| <a id="fld_x_rel"></a>x_rel | `float32` | m | | X/north position of target, relative to vehicle (navigation frame) |
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| <a id="fld_y_rel"></a>y_rel | `float32` | m | | Y/east position of target, relative to vehicle (navigation frame) |
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| <a id="fld_z_rel"></a>z_rel | `float32` | m | | Z/down position of target, relative to vehicle (navigation frame) |
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| <a id="fld_vx_rel"></a>vx_rel | `float32` | m/s | | X/north velocity of target, relative to vehicle (navigation frame) |
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| <a id="fld_vy_rel"></a>vy_rel | `float32` | m/s | | Y/east velocity of target, relative to vehicle (navigation frame) |
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| <a id="fld_vz_rel"></a>vz_rel | `float32` | m/s | | Z/down velocity of target, relative to vehicle (navigation frame) |
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| <a id="fld_cov_x_rel"></a>cov_x_rel | `float32` | m^2 | | X/north position variance |
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| <a id="fld_cov_y_rel"></a>cov_y_rel | `float32` | m^2 | | Y/east position variance |
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| <a id="fld_cov_z_rel"></a>cov_z_rel | `float32` | m^2 | | Z/down position variance |
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| <a id="fld_cov_vx_rel"></a>cov_vx_rel | `float32` | (m/s)^2 | | X/north velocity variance |
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| <a id="fld_cov_vy_rel"></a>cov_vy_rel | `float32` | (m/s)^2 | | Y/east velocity variance |
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| <a id="fld_cov_vz_rel"></a>cov_vz_rel | `float32` | (m/s)^2 | | Z/down velocity variance |
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| <a id="fld_abs_pos_valid"></a>abs_pos_valid | `bool` | | | Flag showing whether absolute position is valid |
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| <a id="fld_x_abs"></a>x_abs | `float32` | m | | X/north position of target, relative to origin (navigation frame) |
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| <a id="fld_y_abs"></a>y_abs | `float32` | m | | Y/east position of target, relative to origin (navigation frame) |
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| <a id="fld_z_abs"></a>z_abs | `float32` | m | | Z/down position of target, relative to origin (navigation frame) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetPose.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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# Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames
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uint64 timestamp # [us] Time since system start
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bool is_static # [-] Flag indicating whether the landing target is static or moving with respect to the ground
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bool rel_pos_valid # [-] Flag showing whether relative position is valid
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bool rel_vel_valid # [-] Flag showing whether relative velocity is valid
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bool rel_vel_ekf2_valid # [-] Flag showing whether relative velocity is valid for EKF2 auxiliary velocity aiding
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float32 x_rel # [m] X/north position of target, relative to vehicle (navigation frame)
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float32 y_rel # [m] Y/east position of target, relative to vehicle (navigation frame)
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float32 z_rel # [m] Z/down position of target, relative to vehicle (navigation frame)
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float32 vx_rel # [m/s] X/north velocity of target, relative to vehicle (navigation frame)
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float32 vy_rel # [m/s] Y/east velocity of target, relative to vehicle (navigation frame)
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float32 vz_rel # [m/s] Z/down velocity of target, relative to vehicle (navigation frame)
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float32 cov_x_rel # [m^2] X/north position variance
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float32 cov_y_rel # [m^2] Y/east position variance
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float32 cov_z_rel # [m^2] Z/down position variance
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float32 cov_vx_rel # [(m/s)^2] X/north velocity variance
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float32 cov_vy_rel # [(m/s)^2] Y/east velocity variance
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float32 cov_vz_rel # [(m/s)^2] Z/down velocity variance
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bool abs_pos_valid # [-] Flag showing whether absolute position is valid
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float32 x_abs # [m] X/north position of target, relative to origin (navigation frame)
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float32 y_abs # [m] Y/east position of target, relative to origin (navigation frame)
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float32 z_abs # [m] Z/down position of target, relative to origin (navigation frame)
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```
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:::
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