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69 lines
4.7 KiB
Markdown
69 lines
4.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# LandingTargetPose (UORB message)
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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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**TOPICS:** landing_target_pose
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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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| is_static | `bool` | | | Flag indicating whether the landing target is static or moving with respect to the ground |
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| rel_pos_valid | `bool` | | | Flag showing whether relative position is valid |
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| rel_vel_valid | `bool` | | | Flag showing whether relative velocity is valid |
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| x_rel | `float32` | | | X/north position of target, relative to vehicle (navigation frame) [meters] |
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| y_rel | `float32` | | | Y/east position of target, relative to vehicle (navigation frame) [meters] |
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| z_rel | `float32` | | | Z/down position of target, relative to vehicle (navigation frame) [meters] |
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| vx_rel | `float32` | | | X/north velocity of target, relative to vehicle (navigation frame) [meters/second] |
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| vy_rel | `float32` | | | Y/east velocity of target, relative to vehicle (navigation frame) [meters/second] |
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| cov_x_rel | `float32` | | | X/north position variance [meters^2] |
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| cov_y_rel | `float32` | | | Y/east position variance [meters^2] |
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| cov_vx_rel | `float32` | | | X/north velocity variance [(meters/second)^2] |
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| cov_vy_rel | `float32` | | | Y/east velocity variance [(meters/second)^2] |
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| abs_pos_valid | `bool` | | | Flag showing whether absolute position is valid |
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| x_abs | `float32` | | | X/north position of target, relative to origin (navigation frame) [meters] |
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| y_abs | `float32` | | | Y/east position of target, relative to origin (navigation frame) [meters] |
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| z_abs | `float32` | | | Z/down position of target, relative to origin (navigation frame) [meters] |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetPose.msg)
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::: details Click here to see original file
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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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:::
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