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# LandingTargetPose (UORB message)

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

**TOPICS:** landing_target_pose

## Fields

| Name          | Type      | Unit [Frame] | Range/Enum | Description                                                                               |
| ------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------- |
| timestamp     | `uint64`  |              |            | time since system start (microseconds)                                                    |
| is_static     | `bool`    |              |            | Flag indicating whether the landing target is static or moving with respect to the ground |
| rel_pos_valid | `bool`    |              |            | Flag showing whether relative position is valid                                           |
| rel_vel_valid | `bool`    |              |            | Flag showing whether relative velocity is valid                                           |
| x_rel         | `float32` |              |            | X/north position of target, relative to vehicle (navigation frame) [meters]               |
| y_rel         | `float32` |              |            | Y/east position of target, relative to vehicle (navigation frame) [meters]                |
| z_rel         | `float32` |              |            | Z/down position of target, relative to vehicle (navigation frame) [meters]                |
| vx_rel        | `float32` |              |            | X/north velocity of target, relative to vehicle (navigation frame) [meters/second]        |
| vy_rel        | `float32` |              |            | Y/east velocity of target, relative to vehicle (navigation frame) [meters/second]         |
| cov_x_rel     | `float32` |              |            | X/north position variance [meters^2]                                                      |
| cov_y_rel     | `float32` |              |            | Y/east position variance [meters^2]                                                       |
| cov_vx_rel    | `float32` |              |            | X/north velocity variance [(meters/second)^2]                                             |
| cov_vy_rel    | `float32` |              |            | Y/east velocity variance [(meters/second)^2]                                              |
| abs_pos_valid | `bool`    |              |            | Flag showing whether absolute position is valid                                           |
| x_abs         | `float32` |              |            | X/north position of target, relative to origin (navigation frame) [meters]                |
| y_abs         | `float32` |              |            | Y/east position of target, relative to origin (navigation frame) [meters]                 |
| z_abs         | `float32` |              |            | Z/down position of target, relative to origin (navigation frame) [meters]                 |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetPose.msg)

::: details Click here to see original file

```c
# 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]
```

:::
