VteInput (UORB message)

Vehicle inputs fed into the Vision Target Estimator position prediction step, logged for tuning.

Published by: vision_target_estimator (VisionTargetEst work item). Subscribed by: logger only.

TOPICS: vte_input

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 input data
acc_xyz	float32[3]	m/s^2 [NED]		Downsampled UAV bias-corrected acceleration (including gravity)
q_att	float32[4]			Downsampled UAV attitude quaternion (FRD body -> NED earth)
acc_sample_count	uint32			Number of raw samples averaged into acc_xyz this cycle

Source Message

Source file (GitHub)

Details

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# Vehicle inputs fed into the Vision Target Estimator position prediction step, logged for tuning.
#
# Published by: vision_target_estimator (VisionTargetEst work item).
# Subscribed by: logger only.

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

float32[3] acc_xyz # [m/s^2] [@frame NED] Downsampled UAV bias-corrected acceleration (including gravity)
float32[4] q_att # [-] Downsampled UAV attitude quaternion (FRD body -> NED earth)
uint32 acc_sample_count # [-] Number of raw samples averaged into acc_xyz this cycle