OpNavCOMMsgPayload

struct OpNavCOMMsgPayload

Center of mass optical navigation measurement message.

This message is output by the center of brightness converter module and contains the center of mass (COM) after offsetting the center of brightness (COB) using the phase angle correction.

Public Members

uint64_t timeTag

—[ns] Current vehicle time-tag associated with measurements

bool valid

— Quality of measurement

int64_t cameraID

— [-] ID of the camera that took the image

double centerOfMass[2]

— [-] Center x, y of bright pixels after correction

double centerOfBrightness[2]

— [-] Center x, y of bright pixels

double offsetFactor

— [-] COM/COB offset factor as a fraction of object radius

int32_t objectPixelRadius

— [-] radius of object in pixels

double phaseAngle

— [rad] angle between Sun-Object-Camera

double sunDirection

— [rad] Sun direction in the image