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15 lines
639 B
Plaintext
15 lines
639 B
Plaintext
# 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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