px4-firmware/msg/vehicle_global_position.msg

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