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Merge pull request #1041 from PX4/vision_estimate 

Vision estimate
This commit is contained in:
Lorenz Meier 2014-08-13 09:16:41 +02:00
parent fd435532b5 2cc5c6e84f
commit c3467d4edf
7 changed files with 323 additions and 9 deletions
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44
src/modules/mavlink/mavlink_receiver.cpp
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@ -108,6 +108,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_att_sp_pub(-1),
_rates_sp_pub(-1),
_vicon_position_pub(-1),
_vision_position_pub(-1),
_telemetry_status_pub(-1),
_rc_pub(-1),
_manual_pub(-1),
@ -148,6 +149,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_vicon_position_estimate(msg);
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
handle_message_vision_position_estimate(msg);
break;
case MAVLINK_MSG_ID_RADIO_STATUS:
handle_message_radio_status(msg);
break;
@ -358,6 +363,45 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
{
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(msg, &pos);
struct vision_position_estimate vision_position;
memset(&vision_position, 0, sizeof(vision_position));
// Use the component ID to identify the vision sensor
vision_position.id = msg->compid;
vision_position.timestamp_boot = hrt_absolute_time();
vision_position.timestamp_computer = pos.usec;
vision_position.x = pos.x;
vision_position.y = pos.y;
vision_position.z = pos.z;
// XXX fix this
vision_position.vx = 0.0f;
vision_position.vy = 0.0f;
vision_position.vz = 0.0f;
math::Quaternion q;
q.from_euler(pos.roll, pos.pitch, pos.yaw);
vision_position.q[0] = q(0);
vision_position.q[1] = q(1);
vision_position.q[2] = q(2);
vision_position.q[3] = q(3);
if (_vision_position_pub < 0) {
_vision_position_pub = orb_advertise(ORB_ID(vision_position_estimate), &vision_position);
} else {
orb_publish(ORB_ID(vision_position_estimate), _vision_position_pub, &vision_position);
}
}
void
MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
{

3
src/modules/mavlink/mavlink_receiver.h
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@ -58,6 +58,7 @@
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vision_position_estimate.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/optical_flow.h>
@ -112,6 +113,7 @@ private:
void handle_message_optical_flow(mavlink_message_t *msg);
void handle_message_set_mode(mavlink_message_t *msg);
void handle_message_vicon_position_estimate(mavlink_message_t *msg);
void handle_message_vision_position_estimate(mavlink_message_t *msg);
void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
void handle_message_radio_status(mavlink_message_t *msg);
void handle_message_manual_control(mavlink_message_t *msg);
@ -145,6 +147,7 @@ private:
orb_advert_t _att_sp_pub;
orb_advert_t _rates_sp_pub;
orb_advert_t _vicon_position_pub;
orb_advert_t _vision_position_pub;
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;
orb_advert_t _manual_pub;

124
src/modules/position_estimator_inav/position_estimator_inav_main.c
View File

@ -59,6 +59,7 @@
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vision_position_estimate.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/optical_flow.h>
#include <mavlink/mavlink_log.h>
@ -80,6 +81,7 @@ static bool thread_running = false; /**< Deamon status flag */
static int position_estimator_inav_task; /**< Handle of deamon task / thread */
static bool verbose_mode = false;
static const hrt_abstime vision_topic_timeout = 500000; // Vision topic timeout = 0.5s
static const hrt_abstime gps_topic_timeout = 500000; // GPS topic timeout = 0.5s
static const hrt_abstime flow_topic_timeout = 1000000; // optical flow topic timeout = 1s
static const hrt_abstime sonar_timeout = 150000; // sonar timeout = 150ms
@ -233,6 +235,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float eph_flow = 1.0f;
float eph_vision = 0.5f;
float epv_vision = 0.5f;
float x_est_prev[2], y_est_prev[2], z_est_prev[2];
memset(x_est_prev, 0, sizeof(x_est_prev));
memset(y_est_prev, 0, sizeof(y_est_prev));
@ -279,6 +284,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
};
float w_gps_xy = 1.0f;
float w_gps_z = 1.0f;
float corr_vision[3][2] = {
{ 0.0f, 0.0f }, // N (pos, vel)
{ 0.0f, 0.0f }, // E (pos, vel)
{ 0.0f, 0.0f }, // D (pos, vel)
};
float corr_sonar = 0.0f;
float corr_sonar_filtered = 0.0f;
@ -294,6 +306,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
bool sonar_valid = false; // sonar is valid
bool flow_valid = false; // flow is valid
bool flow_accurate = false; // flow should be accurate (this flag not updated if flow_valid == false)
bool vision_valid = false;
/* declare and safely initialize all structs */
struct actuator_controls_s actuator;
@ -312,6 +325,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
memset(&local_pos, 0, sizeof(local_pos));
struct optical_flow_s flow;
memset(&flow, 0, sizeof(flow));
struct vision_position_estimate vision;
memset(&vision, 0, sizeof(vision));
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
@ -323,6 +338,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int optical_flow_sub = orb_subscribe(ORB_ID(optical_flow));
int vehicle_gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
int vision_position_estimate_sub = orb_subscribe(ORB_ID(vision_position_estimate));
int home_position_sub = orb_subscribe(ORB_ID(home_position));
/* advertise */
@ -616,6 +632,46 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
}
/* check no vision circuit breaker is set */
if (params.no_vision != CBRK_NO_VISION_KEY) {
/* vehicle vision position */
orb_check(vision_position_estimate_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vision_position_estimate), vision_position_estimate_sub, &vision);
/* reset position estimate on first vision update */
if (!vision_valid) {
x_est[0] = vision.x;
x_est[1] = vision.vx;
y_est[0] = vision.y;
y_est[1] = vision.vy;
/* only reset the z estimate if the z weight parameter is not zero */
if (params.w_z_vision_p > MIN_VALID_W)
{
z_est[0] = vision.z;
z_est[1] = vision.vz;
}
vision_valid = true;
warnx("VISION estimate valid");
mavlink_log_info(mavlink_fd, "[inav] VISION estimate valid");
}
/* calculate correction for position */
corr_vision[0][0] = vision.x - x_est[0];
corr_vision[1][0] = vision.y - y_est[0];
corr_vision[2][0] = vision.z - z_est[0];
/* calculate correction for velocity */
corr_vision[0][1] = vision.vx - x_est[1];
corr_vision[1][1] = vision.vy - y_est[1];
corr_vision[2][1] = vision.vz - z_est[1];
}
}
/* vehicle GPS position */
orb_check(vehicle_gps_position_sub, &updated);
@ -732,14 +788,21 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
/* check for timeout on GPS topic */
if (gps_valid && t > gps.timestamp_position + gps_topic_timeout) {
if (gps_valid && (t > (gps.timestamp_position + gps_topic_timeout))) {
gps_valid = false;
warnx("GPS timeout");
mavlink_log_info(mavlink_fd, "[inav] GPS timeout");
}
/* check for timeout on vision topic */
if (vision_valid && (t > (vision.timestamp_boot + vision_topic_timeout))) {
vision_valid = false;
warnx("VISION timeout");
mavlink_log_info(mavlink_fd, "[inav] VISION timeout");
}
/* check for sonar measurement timeout */
if (sonar_valid && t > sonar_time + sonar_timeout) {
if (sonar_valid && (t > (sonar_time + sonar_timeout))) {
corr_sonar = 0.0f;
sonar_valid = false;
}
@ -759,10 +822,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* use GPS if it's valid and reference position initialized */
bool use_gps_xy = ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W;
bool use_gps_z = ref_inited && gps_valid && params.w_z_gps_p > MIN_VALID_W;
/* use VISION if it's valid and has a valid weight parameter */
bool use_vision_xy = vision_valid && params.w_xy_vision_p > MIN_VALID_W;
bool use_vision_z = vision_valid && params.w_z_vision_p > MIN_VALID_W;
/* use flow if it's valid and (accurate or no GPS available) */
bool use_flow = flow_valid && (flow_accurate || !use_gps_xy);
bool can_estimate_xy = (eph < max_eph_epv) || use_gps_xy || use_flow;
bool can_estimate_xy = (eph < max_eph_epv) || use_gps_xy || use_flow || use_vision_xy;
bool dist_bottom_valid = (t < sonar_valid_time + sonar_valid_timeout);
@ -781,6 +847,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float w_xy_gps_v = params.w_xy_gps_v * w_gps_xy;
float w_z_gps_p = params.w_z_gps_p * w_gps_z;
float w_xy_vision_p = params.w_xy_vision_p;
float w_xy_vision_v = params.w_xy_vision_v;
float w_z_vision_p = params.w_z_vision_p;
/* reduce GPS weight if optical flow is good */
if (use_flow && flow_accurate) {
w_xy_gps_p *= params.w_gps_flow;
@ -821,6 +891,35 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
}
/* accelerometer bias correction for VISION (use buffered rotation matrix) */
accel_bias_corr[0] = 0.0f;
accel_bias_corr[1] = 0.0f;
accel_bias_corr[2] = 0.0f;
if (use_vision_xy) {
accel_bias_corr[0] -= corr_vision[0][0] * w_xy_vision_p * w_xy_vision_p;
accel_bias_corr[0] -= corr_vision[0][1] * w_xy_vision_v;
accel_bias_corr[1] -= corr_vision[1][0] * w_xy_vision_p * w_xy_vision_p;
accel_bias_corr[1] -= corr_vision[1][1] * w_xy_vision_v;
}
if (use_vision_z) {
accel_bias_corr[2] -= corr_vision[2][0] * w_z_vision_p * w_z_vision_p;
}
/* transform error vector from NED frame to body frame */
for (int i = 0; i < 3; i++) {
float c = 0.0f;
for (int j = 0; j < 3; j++) {
c += att.R[j][i] * accel_bias_corr[j];
}
if (isfinite(c)) {
acc_bias[i] += c * params.w_acc_bias * dt;
}
}
/* accelerometer bias correction for flow and baro (assume that there is no delay) */
accel_bias_corr[0] = 0.0f;
accel_bias_corr[1] = 0.0f;
@ -863,10 +962,16 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p);
}
if (use_vision_z) {
epv = fminf(epv, epv_vision);
inertial_filter_correct(corr_vision[2][0], dt, z_est, 0, w_z_vision_p);
}
if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) {
write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
memcpy(z_est, z_est_prev, sizeof(z_est));
memset(corr_gps, 0, sizeof(corr_gps));
memset(corr_vision, 0, sizeof(corr_vision));
corr_baro = 0;
} else {
@ -904,11 +1009,24 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
}
if (use_vision_xy) {
eph = fminf(eph, eph_vision);
inertial_filter_correct(corr_vision[0][0], dt, x_est, 0, w_xy_vision_p);
inertial_filter_correct(corr_vision[1][0], dt, y_est, 0, w_xy_vision_p);
if (w_xy_vision_v > MIN_VALID_W) {
inertial_filter_correct(corr_vision[0][1], dt, x_est, 1, w_xy_vision_v);
inertial_filter_correct(corr_vision[1][1], dt, y_est, 1, w_xy_vision_v);
}
}
if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(y_est[0]) && isfinite(y_est[1]))) {
write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
memcpy(x_est, x_est_prev, sizeof(x_est));
memcpy(y_est, y_est_prev, sizeof(y_est));
memset(corr_gps, 0, sizeof(corr_gps));
memset(corr_vision, 0, sizeof(corr_vision));
memset(corr_flow, 0, sizeof(corr_flow));
} else {

57
src/modules/position_estimator_inav/position_estimator_inav_params.c
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -35,6 +34,8 @@
/*
* @file position_estimator_inav_params.c
*
* @author Anton Babushkin <rk3dov@gmail.com>
*
* Parameters for position_estimator_inav
*/
@ -62,6 +63,17 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
*/
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
/**
* Z axis weight for vision
*
* Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_Z_VIS_P, 0.5f);
/**
* Z axis weight for sonar
*
@ -95,6 +107,28 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
*/
PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
/**
* XY axis weight for vision position
*
* Weight (cutoff frequency) for vision position measurements.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 5.0f);
/**
* XY axis weight for vision velocity
*
* Weight (cutoff frequency) for vision velocity measurements.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_V, 0.0f);
/**
* XY axis weight for optical flow
*
@ -232,13 +266,27 @@ PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
*/
PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
/**
* Disable vision input
*
* Set to the appropriate key (328754) to disable vision input.
*
* @min 0.0
* @max 1.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
int parameters_init(struct position_estimator_inav_param_handles *h)
{
h->w_z_baro = param_find("INAV_W_Z_BARO");
h->w_z_gps_p = param_find("INAV_W_Z_GPS_P");
h->w_z_vision_p = param_find("INAV_W_Z_VIS_P");
h->w_z_sonar = param_find("INAV_W_Z_SONAR");
h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P");
h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V");
h->w_xy_vision_p = param_find("INAV_W_XY_VIS_P");
h->w_xy_vision_v = param_find("INAV_W_XY_VIS_V");
h->w_xy_flow = param_find("INAV_W_XY_FLOW");
h->w_xy_res_v = param_find("INAV_W_XY_RES_V");
h->w_gps_flow = param_find("INAV_W_GPS_FLOW");
@ -250,6 +298,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h)
h->land_t = param_find("INAV_LAND_T");
h->land_disp = param_find("INAV_LAND_DISP");
h->land_thr = param_find("INAV_LAND_THR");
h->no_vision = param_find("CBRK_NO_VISION");
h->delay_gps = param_find("INAV_DELAY_GPS");
return OK;
@ -259,9 +308,12 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str
{
param_get(h->w_z_baro, &(p->w_z_baro));
param_get(h->w_z_gps_p, &(p->w_z_gps_p));
param_get(h->w_z_vision_p, &(p->w_z_vision_p));
param_get(h->w_z_sonar, &(p->w_z_sonar));
param_get(h->w_xy_gps_p, &(p->w_xy_gps_p));
param_get(h->w_xy_gps_v, &(p->w_xy_gps_v));
param_get(h->w_xy_vision_p, &(p->w_xy_vision_p));
param_get(h->w_xy_vision_v, &(p->w_xy_vision_v));
param_get(h->w_xy_flow, &(p->w_xy_flow));
param_get(h->w_xy_res_v, &(p->w_xy_res_v));
param_get(h->w_gps_flow, &(p->w_gps_flow));
@ -273,6 +325,7 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str
param_get(h->land_t, &(p->land_t));
param_get(h->land_disp, &(p->land_disp));
param_get(h->land_thr, &(p->land_thr));
param_get(h->no_vision, &(p->no_vision));
param_get(h->delay_gps, &(p->delay_gps));
return OK;

19
src/modules/position_estimator_inav/position_estimator_inav_params.h
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,9 +32,11 @@
****************************************************************************/
/*
* @file position_estimator_inav_params.h
* @file position_estimator_inav_params.c
*
* Parameters for Position Estimator
* @author Anton Babushkin <rk3dov@gmail.com>
*
* Parameters definition for position_estimator_inav
*/
#include <systemlib/param/param.h>
@ -43,9 +44,12 @@
struct position_estimator_inav_params {
float w_z_baro;
float w_z_gps_p;
float w_z_vision_p;
float w_z_sonar;
float w_xy_gps_p;
float w_xy_gps_v;
float w_xy_vision_p;
float w_xy_vision_v;
float w_xy_flow;
float w_xy_res_v;
float w_gps_flow;
@ -57,15 +61,19 @@ struct position_estimator_inav_params {
float land_t;
float land_disp;
float land_thr;
int32_t no_vision;
float delay_gps;
};
struct position_estimator_inav_param_handles {
param_t w_z_baro;
param_t w_z_gps_p;
param_t w_z_vision_p;
param_t w_z_sonar;
param_t w_xy_gps_p;
param_t w_xy_gps_v;
param_t w_xy_vision_p;
param_t w_xy_vision_v;
param_t w_xy_flow;
param_t w_xy_res_v;
param_t w_gps_flow;
@ -77,9 +85,12 @@ struct position_estimator_inav_param_handles {
param_t land_t;
param_t land_disp;
param_t land_thr;
param_t no_vision;
param_t delay_gps;
};
#define CBRK_NO_VISION_KEY 328754
/**
* Initialize all parameter handles and values
*

3
src/modules/uORB/objects_common.cpp
View File

@ -213,6 +213,9 @@ ORB_DEFINE(encoders, struct encoders_s);
#include "topics/estimator_status.h"
ORB_DEFINE(estimator_status, struct estimator_status_report);
#include "topics/vision_position_estimate.h"
ORB_DEFINE(vision_position_estimate, struct vision_position_estimate);
#include "topics/vehicle_force_setpoint.h"
ORB_DEFINE(vehicle_force_setpoint, struct vehicle_force_setpoint_s);

82
src/modules/uORB/topics/vision_position_estimate.h Normal file
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@ -0,0 +1,82 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vision_position_estimate.h
* Vision based position estimate
*/
#ifndef TOPIC_VISION_POSITION_ESTIMATE_H_
#define TOPIC_VISION_POSITION_ESTIMATE_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Vision based position estimate in NED frame
*/
struct vision_position_estimate {
unsigned id; /**< ID of the estimator, commonly the component ID of the incoming message */
uint64_t timestamp_boot; /**< time of this estimate, in microseconds since system start */
uint64_t timestamp_computer; /**< timestamp provided by the companion computer, in us */
float x; /**< X position in meters in NED earth-fixed frame */
float y; /**< Y position in meters in NED earth-fixed frame */
float z; /**< Z position in meters in NED earth-fixed frame (negative altitude) */
float vx; /**< X velocity in meters per second in NED earth-fixed frame */
float vy; /**< Y velocity in meters per second in NED earth-fixed frame */
float vz; /**< Z velocity in meters per second in NED earth-fixed frame */
float q[4]; /**< Estimated attitude as quaternion */
// XXX Add covariances here
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vision_position_estimate);
#endif /* TOPIC_VISION_POSITION_ESTIMATE_H_ */