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Added yaw tracking to LandingTargetEstimator and precland

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Alessandro Simovic
2022-10-25 18:19:26 +02:00
parent 6f718cd48d
commit 564345896b
9 changed files with 137 additions and 2 deletions
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msg/IrlockReport.msg
+2
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@@ -9,3 +9,5 @@ float32 pos_x # tan(theta), where theta is the angle between the target and the
float32 pos_y # tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis
float32 size_x #/** size of target along camera x-axis in units of tan(theta) **/
float32 size_y #/** size of target along camera y-axis in units of tan(theta) **/
float32[4] q # Quaternion as recorded by the camera (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
msg/LandingTargetPose.msg
+4
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@@ -24,3 +24,7 @@ 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]
float32[4] q # Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
float32 target_yaw
float32 target_yaw_filtered