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46 lines
2.7 KiB
Markdown
46 lines
2.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VteInput (UORB message)
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Vehicle inputs fed into the Vision Target Estimator position prediction step, logged for tuning.
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Published by: vision_target_estimator (VisionTargetEst work item).
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Subscribed by: logger only.
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**TOPICS:** vte_input
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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_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Timestamp of the raw input data |
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| <a id="fld_acc_xyz"></a>acc_xyz | `float32[3]` | m/s^2 [NED] | | Downsampled UAV bias-corrected acceleration (including gravity) |
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| <a id="fld_q_att"></a>q_att | `float32[4]` | | | Downsampled UAV attitude quaternion (FRD body -> NED earth) |
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| <a id="fld_acc_sample_count"></a>acc_sample_count | `uint32` | | | Number of raw samples averaged into acc_xyz this cycle |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VteInput.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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# Vehicle inputs fed into the Vision Target Estimator position prediction step, logged for tuning.
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#
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# Published by: vision_target_estimator (VisionTargetEst work item).
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# Subscribed by: logger only.
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Timestamp of the raw input data
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float32[3] acc_xyz # [m/s^2] [@frame NED] Downsampled UAV bias-corrected acceleration (including gravity)
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float32[4] q_att # [-] Downsampled UAV attitude quaternion (FRD body -> NED earth)
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uint32 acc_sample_count # [-] Number of raw samples averaged into acc_xyz this cycle
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```
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:::
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