mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
44 lines
2.7 KiB
Markdown
44 lines
2.7 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# IrlockReport (UORB message)
|
|
|
|
IRLOCK_REPORT message data.
|
|
|
|
**TOPICS:** irlock_report
|
|
|
|
## Fields
|
|
|
|
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
|
|
| --------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------- |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| signature | `uint16` | | | |
|
|
| pos_x | `float32` | | | tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis |
|
|
| pos_y | `float32` | | | tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis |
|
|
| size_x | `float32` | | | /\*\* size of target along camera x-axis in units of tan(theta) \*\*/ |
|
|
| size_y | `float32` | | | /\*\* size of target along camera y-axis in units of tan(theta) \*\*/ |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/IrlockReport.msg)
|
|
|
|
:::details
|
|
Click here to see original file
|
|
|
|
```c
|
|
# IRLOCK_REPORT message data
|
|
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
uint16 signature
|
|
|
|
# When looking along the optical axis of the camera, x points right, y points down, and z points along the optical axis.
|
|
float32 pos_x # tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis
|
|
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) **/
|
|
```
|
|
|
|
:::
|