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docs: add main_camera_optical to frames article

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Oleg Kalachev
2022-02-07 09:44:53 +03:00
parent c1ca40187e
commit fbad85d87f
2 changed files with 4 additions and 2 deletions
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docs/en/frames.md
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@@ -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: