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43 lines
2.1 KiB
Markdown
43 lines
2.1 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# IrlockReport (UORB message)
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IRLOCK_REPORT message data.
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**TOPICS:** irlock_report
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| --------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------ |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| signature | `uint16` | | |
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| pos_x | `float32` | | | tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis |
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| pos_y | `float32` | | | tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis |
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| size_x | `float32` | | | /** size of target along camera x-axis in units of tan(theta) **/ |
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| size_y | `float32` | | | /** size of target along camera y-axis in units of tan(theta) **/ |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/IrlockReport.msg)
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::: details Click here to see original file
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```c
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# IRLOCK_REPORT message data
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uint64 timestamp # time since system start (microseconds)
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uint16 signature
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# When looking along the optical axis of the camera, x points right, y points down, and z points along the optical axis.
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float32 pos_x # tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis
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float32 pos_y # tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis
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float32 size_x #/** size of target along camera x-axis in units of tan(theta) **/
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float32 size_y #/** size of target along camera y-axis in units of tan(theta) **/
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```
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:::
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