CameraCapture (UORB message)
TOPICS: camera_capture
Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| timestamp_utc | uint64 | Capture time in UTC / GPS time | ||
| seq | uint32 | Image sequence number | ||
| lat | float64 | Latitude in degrees (WGS84) | ||
| lon | float64 | Longitude in degrees (WGS84) | ||
| alt | float32 | Altitude (AMSL) | ||
| ground_distance | float32 | Altitude above ground (meters) | ||
| q | float32[4] | Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude | ||
| result | int8 | 1 for success, 0 for failure, -1 if camera does not provide feedback |
Source Message
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c
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_utc # Capture time in UTC / GPS time
uint32 seq # Image sequence number
float64 lat # Latitude in degrees (WGS84)
float64 lon # Longitude in degrees (WGS84)
float32 alt # Altitude (AMSL)
float32 ground_distance # Altitude above ground (meters)
float32[4] q # Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude
int8 result # 1 for success, 0 for failure, -1 if camera does not provide feedback