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50 lines
2.7 KiB
Markdown
50 lines
2.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VteOrientation (UORB message)
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Vision Target Estimator orientation state, exposing the full yaw filter output with covariances for logging and tuning.
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Published by: vision_target_estimator (VTEOrientation).
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Subscribed by: logger only. The orientation-related fields consumed elsewhere (precision landing) are exposed on landing_target_pose.
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**TOPICS:** vte_orientation
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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_orientation_valid"></a>orientation_valid | `bool` | | | Relative orientation estimate valid |
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| <a id="fld_yaw"></a>yaw | `float32` | rad [NED] | | Target yaw angle |
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| <a id="fld_cov_yaw"></a>cov_yaw | `float32` | rad^2 | | Variance of yaw |
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| <a id="fld_yaw_rate"></a>yaw_rate | `float32` | rad/s [NED] | | Target yaw rate |
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| <a id="fld_cov_yaw_rate"></a>cov_yaw_rate | `float32` | (rad/s)^2 | | Variance of yaw_rate |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VteOrientation.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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# Vision Target Estimator orientation state, exposing the full yaw filter output with covariances for logging and tuning.
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#
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# Published by: vision_target_estimator (VTEOrientation).
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# Subscribed by: logger only. The orientation-related fields consumed elsewhere (precision landing) are exposed on landing_target_pose.
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uint64 timestamp # [us] Time since system start
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bool orientation_valid # [-] Relative orientation estimate valid
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float32 yaw # [rad] [@frame NED] Target yaw angle
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float32 cov_yaw # [rad^2] Variance of yaw
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float32 yaw_rate # [rad/s] [@frame NED] Target yaw rate
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float32 cov_yaw_rate # [(rad/s)^2] Variance of yaw_rate
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```
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:::
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