#include <common.h>

Collaboration diagram for estimator::extVisionSample:

Public Attributes
Vector3f	pos
	XYZ position in earth frame (m) - Z must be aligned with down axis. More...

Vector3f	vel
	XYZ velocity in earth frame (m/sec) - Z must be aligned with down axis. More...

Quatf	quat
	quaternion defining rotation from body to earth frame More...

float	posErr
	1-Sigma horizontal position accuracy (m) More...

float	hgtErr
	1-Sigma height accuracy (m) More...

float	velErr
	1-Sigma velocity accuracy (m/sec) More...

float	angErr
	1-Sigma angular error (rad) More...

uint64_t	time_us
	timestamp of the measurement (uSec) More...

Detailed Description

Definition at line 155 of file common.h.

Member Data Documentation

◆ angErr

float estimator::extVisionSample::angErr

1-Sigma angular error (rad)

Definition at line 162 of file common.h.

Referenced by Ekf::controlExternalVisionFusion(), Ekf::fuseHeading(), Ekf::initialiseFilter(), Ekf::resetMagHeading(), and EstimatorInterface::setExtVisionData().

◆ hgtErr

float estimator::extVisionSample::hgtErr

1-Sigma height accuracy (m)

Definition at line 160 of file common.h.

Referenced by Ekf::fuseVelPosHeight(), and EstimatorInterface::setExtVisionData().

◆ pos

Vector3f estimator::extVisionSample::pos

XYZ position in earth frame (m) - Z must be aligned with down axis.

Definition at line 156 of file common.h.

Referenced by Ekf::controlExternalVisionFusion(), Ekf::fuseVelPosHeight(), Ekf::resetHeight(), Ekf::resetPosition(), and EstimatorInterface::setExtVisionData().

◆ posErr

float estimator::extVisionSample::posErr

1-Sigma horizontal position accuracy (m)

Definition at line 159 of file common.h.

Referenced by Ekf::controlExternalVisionFusion(), Ekf::resetPosition(), and EstimatorInterface::setExtVisionData().

◆ quat

Quatf estimator::extVisionSample::quat

quaternion defining rotation from body to earth frame

Definition at line 158 of file common.h.

Referenced by Ekf::calcExtVisRotMat(), Ekf::controlExternalVisionFusion(), Ekf::fuseHeading(), Ekf::resetExtVisRotMat(), Ekf::resetMagHeading(), and EstimatorInterface::setExtVisionData().

◆ time_us

uint64_t estimator::extVisionSample::time_us

timestamp of the measurement (uSec)

Definition at line 163 of file common.h.

Referenced by Ekf::controlHeightSensorTimeouts(), Ekf::initialiseFilter(), Ekf::resetHeight(), and EstimatorInterface::setExtVisionData().

◆ vel

Vector3f estimator::extVisionSample::vel

XYZ velocity in earth frame (m/sec) - Z must be aligned with down axis.

Definition at line 157 of file common.h.

Referenced by Ekf::controlExternalVisionFusion(), Ekf::resetVelocity(), and EstimatorInterface::setExtVisionData().

◆ velErr

float estimator::extVisionSample::velErr

1-Sigma velocity accuracy (m/sec)

Definition at line 161 of file common.h.