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52 lines
3.7 KiB
Markdown
52 lines
3.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# FollowTargetEstimator (UORB message)
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**TOPICS:** follow_target_estimator
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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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| last_filter_reset_timestamp | `uint64` | | | time of last filter reset (microseconds) |
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| valid | `bool` | | | True if estimator states are okay to be used |
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| stale | `bool` | | | True if estimator stopped receiving follow_target messages for some time. The estimate can still be valid, though it might be inaccurate. |
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| lat_est | `float64` | | | Estimated target latitude |
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| lon_est | `float64` | | | Estimated target longitude |
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| alt_est | `float32` | | | Estimated target altitude |
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| pos_est | `float32[3]` | | | Estimated target NED position (m) |
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| vel_est | `float32[3]` | | | Estimated target NED velocity (m/s) |
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| acc_est | `float32[3]` | | | Estimated target NED acceleration (m^2/s) |
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| prediction_count | `uint64` | | |
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| fusion_count | `uint64` | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetEstimator.msg)
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::: details Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint64 last_filter_reset_timestamp # time of last filter reset (microseconds)
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bool valid # True if estimator states are okay to be used
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bool stale # True if estimator stopped receiving follow_target messages for some time. The estimate can still be valid, though it might be inaccurate.
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float64 lat_est # Estimated target latitude
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float64 lon_est # Estimated target longitude
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float32 alt_est # Estimated target altitude
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float32[3] pos_est # Estimated target NED position (m)
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float32[3] vel_est # Estimated target NED velocity (m/s)
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float32[3] acc_est # Estimated target NED acceleration (m^2/s)
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uint64 prediction_count
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uint64 fusion_count
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```
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:::
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