LandingTargetPose (повідомлення UORB)

Відносне положення цільової точки з високою точністю в навігаційних кадрах (тіло фіксоване, орієнтоване на північ, NED) та інерційних (фіксовані на світі, орієнтовані на північ, NED) кадрах

source file

# Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames

uint64 timestamp		# time since system start (microseconds)

bool is_static			# Flag indicating whether the landing target is static or moving with respect to the ground

bool rel_pos_valid		# Flag showing whether relative position is valid
bool rel_vel_valid		# Flag showing whether relative velocity is valid

float32 x_rel			# X/north position of target, relative to vehicle (navigation frame) [meters]
float32 y_rel			# Y/east position of target, relative to vehicle (navigation frame) [meters]
float32 z_rel			# Z/down position of target, relative to vehicle (navigation frame) [meters]

float32 vx_rel			# X/north velocity  of target, relative to vehicle (navigation frame) [meters/second]
float32 vy_rel			# Y/east velocity of target, relative to vehicle (navigation frame) [meters/second]

float32 cov_x_rel		# X/north position variance [meters^2]
float32 cov_y_rel		# Y/east position variance [meters^2]

float32 cov_vx_rel		# X/north velocity variance [(meters/second)^2]
float32 cov_vy_rel		# Y/east velocity variance [(meters/second)^2]

bool abs_pos_valid		# Flag showing whether absolute position is valid
float32 x_abs			# X/north position of target, relative to origin (navigation frame) [meters]
float32 y_abs			# Y/east position of target, relative to origin (navigation frame) [meters]
float32 z_abs			# Z/down position of target, relative to origin (navigation frame) [meters]