FiducialMarkerYawReport (UORB message)

Yaw of a precision-landing target relative to the NED (North, East, Down) frame, reported by a vision pipeline.

Published by: vision pipelines (on-board or off-board over MAVLink TARGET_RELATIVE), decoded in mavlink_receiver. Subscribed by: vision_target_estimator (VTEOrientation).

TOPICS: fiducial_marker_yaw_report

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64	us		Time since system start
timestamp_sample	uint64	us		Timestamp of the raw observation
yaw_ned	float32	rad [NED]		Orientation of the target relative to the NED frame [-Pi ; Pi]
yaw_var_ned	float32	rad^2		Orientation uncertainty

Source Message

Source file (GitHub)

Details

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# Yaw of a precision-landing target relative to the NED (North, East, Down) frame, reported by a vision pipeline.
#
# Published by: vision pipelines (on-board or off-board over MAVLink TARGET_RELATIVE), decoded in mavlink_receiver.
# Subscribed by: vision_target_estimator (VTEOrientation).

uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw observation

float32 yaw_ned # [rad] [@frame NED] Orientation of the target relative to the NED frame [-Pi ; Pi]
float32 yaw_var_ned # [rad^2] Orientation uncertainty