PX4-Autopilot/docs/en/msg_docs/IrlockReport.md

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IrlockReport (UORB message)

IRLOCK_REPORT message data.

TOPICS: irlock_report

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
signature	uint16
pos_x	float32			tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis
pos_y	float32			tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis
size_x	float32			/** size of target along camera x-axis in units of tan(theta) **/
size_y	float32			/** size of target along camera y-axis in units of tan(theta) **/

Source Message

Source file (GitHub)

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# IRLOCK_REPORT message data

uint64 timestamp		# time since system start (microseconds)

uint16 signature

# When looking along the optical axis of the camera, x points right, y points down, and z points along the optical axis.
float32 pos_x # tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis
float32 pos_y # tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis
float32 size_x #/** size of target along camera x-axis in units of tan(theta) **/
float32 size_y #/** size of target along camera y-axis in units of tan(theta) **/

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