pub type GlobalVisionPositionEstimate = GlobalVisionPositionEstimate;
Expand description
Originally defined in common::messages::global_vision_position_estimate
.
Aliased Type§
struct GlobalVisionPositionEstimate {
pub usec: u64,
pub x: f32,
pub y: f32,
pub z: f32,
pub roll: f32,
pub pitch: f32,
pub yaw: f32,
pub covariance: [f32; 21],
pub reset_counter: u8,
}
Fields§
§usec: u64
MAVLink field usec
.
Timestamp (UNIX time or since system boot)
x: f32
MAVLink field x
.
Global X position
y: f32
MAVLink field y
.
Global Y position
z: f32
MAVLink field z
.
Global Z position
roll: f32
MAVLink field roll
.
Roll angle
pitch: f32
MAVLink field pitch
.
Pitch angle
yaw: f32
MAVLink field yaw
.
Yaw angle
covariance: [f32; 21]
MAVLink field covariance
.
Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
reset_counter: u8
MAVLink field reset_counter
.
Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.