VteOrientation (UORB message)

Vision Target Estimator orientation state, exposing the full yaw filter output with covariances for logging and tuning.

Published by: vision_target_estimator (VTEOrientation). Subscribed by: logger only. The orientation-related fields consumed elsewhere (precision landing) are exposed on landing_target_pose.

TOPICS: vte_orientation

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64	us		Time since system start
orientation_valid	bool			Relative orientation estimate valid
yaw	float32	rad [NED]		Target yaw angle
cov_yaw	float32	rad^2		Variance of yaw
yaw_rate	float32	rad/s [NED]		Target yaw rate
cov_yaw_rate	float32	(rad/s)^2		Variance of yaw_rate

Source Message

Source file (GitHub)

Details

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# Vision Target Estimator orientation state, exposing the full yaw filter output with covariances for logging and tuning.
#
# Published by: vision_target_estimator (VTEOrientation).
# Subscribed by: logger only. The orientation-related fields consumed elsewhere (precision landing) are exposed on landing_target_pose.

uint64 timestamp # [us] Time since system start

bool orientation_valid # [-] Relative orientation estimate valid

float32 yaw # [rad] [@frame NED] Target yaw angle
float32 cov_yaw # [rad^2] Variance of yaw

float32 yaw_rate # [rad/s] [@frame NED] Target yaw rate
float32 cov_yaw_rate # [(rad/s)^2] Variance of yaw_rate