CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-05-29 14:29:33 +00:00
Code Issues Packages Projects Releases Wiki Activity

docs: add main_camera_optical to frames article

Browse Source
This commit is contained in:
Oleg Kalachev
2022-02-07 09:44:53 +03:00
parent c1ca40187e
commit fbad85d87f
2 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
docs/en/frames.md
View File

@@ -9,7 +9,8 @@ Main frames in the `clover` package:
* `base_link` is rigidly bound to the drone. It is shown by the simplified drone model on the image above;
* `body` is bound to the drone, but its Z axis points up regardless of the drone's pitch and roll. It is shown by the red, blue and green lines in the illustration;
* <a name="navigate_target"></a>`navigate_target` is bound to the current navigation target (as set by the [navigate](simple_offboard.md#navigate) service);
* `setpoint` is current position setpoint.
* `setpoint` is current position setpoint;
* `main_camera_optical` is the coordinate system, [linked to the main camera](camera_setup.md#frame);
Additional frames become available when [ArUco positioning system](aruco.md) is active:

3
docs/ru/frames.md
View File

@@ -11,7 +11,8 @@
* `base_link` — координаты относительно квадрокоптера: схематичное изображение квадрокоптера на иллюстрации;
* `body` — координаты относительно квадрокоптера без учета наклонов по тангажу и крену: красная, синяя и зеленая линии на иллюстрации;
* <a name="navigate_target"></a>`navigate_target` – координаты точки, в которую сейчас летит дрон (с использованием [navigate](simple_offboard.md#navigate));
* `setpoint` – текущий setpoint по позиции.
* `setpoint` – текущий setpoint по позиции;
* `main_camera_optical` – система координат, [связанная с основной камерой](camera_setup.md#frame).
При использовании [системы позиционирования по ArUco-маркерам](aruco.md) появляются дополнительные фреймы: