PX4 Firmware
PX4 Autopilot Software http://px4.io
estimator::extVisionSample Struct Reference

#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

◆ 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.

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


The documentation for this struct was generated from the following file: