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36 lines
2.0 KiB
Markdown
36 lines
2.0 KiB
Markdown
# LandingTargetPose (повідомлення UORB)
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Відносне положення цільової точки з високою точністю в навігаційних кадрах (тіло фіксоване, орієнтоване на північ, NED) та інерційних (фіксовані на світі, орієнтовані на північ, NED) кадрах
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetPose.msg)
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```c
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# Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames
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uint64 timestamp # time since system start (microseconds)
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bool is_static # Flag indicating whether the landing target is static or moving with respect to the ground
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bool rel_pos_valid # Flag showing whether relative position is valid
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bool rel_vel_valid # Flag showing whether relative velocity is valid
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float32 x_rel # X/north position of target, relative to vehicle (navigation frame) [meters]
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float32 y_rel # Y/east position of target, relative to vehicle (navigation frame) [meters]
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float32 z_rel # Z/down position of target, relative to vehicle (navigation frame) [meters]
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float32 vx_rel # X/north velocity of target, relative to vehicle (navigation frame) [meters/second]
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float32 vy_rel # Y/east velocity of target, relative to vehicle (navigation frame) [meters/second]
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float32 cov_x_rel # X/north position variance [meters^2]
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float32 cov_y_rel # Y/east position variance [meters^2]
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float32 cov_vx_rel # X/north velocity variance [(meters/second)^2]
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float32 cov_vy_rel # Y/east velocity variance [(meters/second)^2]
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bool abs_pos_valid # Flag showing whether absolute position is valid
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float32 x_abs # X/north position of target, relative to origin (navigation frame) [meters]
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float32 y_abs # Y/east position of target, relative to origin (navigation frame) [meters]
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float32 z_abs # Z/down position of target, relative to origin (navigation frame) [meters]
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```
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