Type Alias VisionPositionEstimate 

pub type VisionPositionEstimate = VisionPositionEstimate;

Originally defined in common::messages::vision_position_estimate.

Aliased Type

pub struct VisionPositionEstimate {
    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 time since system boot)

x: f32

MAVLink field x.

Local X position

y: f32

MAVLink field y.

Local Y position

z: f32

MAVLink field z.

Local 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, y, z, 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.