2015-04-26 00:44:54 -03:00
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# Fused global position in WGS84.
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# This struct contains global position estimation. It is not the raw GPS
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# measurement (@see vehicle_gps_position). This topic is usually published by the position
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# estimator, which will take more sources of information into account than just GPS,
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# e.g. control inputs of the vehicle in a Kalman-filter implementation.
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#
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uint64 timestamp # Time of this estimate, in microseconds since system start
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uint64 time_utc_usec # GPS UTC timestamp in microseconds
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float64 lat # Latitude in degrees
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float64 lon # Longitude in degrees
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float32 alt # Altitude AMSL in meters
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float32 vel_n # Ground north velocity, m/s
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float32 vel_e # Ground east velocity, m/s
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float32 vel_d # Ground downside velocity, m/s
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float32 yaw # Yaw in radians -PI..+PI.
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float32 eph # Standard deviation of position estimate horizontally
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float32 epv # Standard deviation of position vertically
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float32 terrain_alt # Terrain altitude in m, WGS84
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bool terrain_alt_valid # Terrain altitude estimate is valid
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bool dead_reckoning # True if this position is estimated through dead-reckoning
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2015-11-20 16:01:35 -04:00
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float32 pressure_alt # Pressure altitude
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