px4-firmware/msg/VehicleLocalPosition.msg

# Fused local position in NED.
# The coordinate system origin is the vehicle position at the time when the EKF2-module was started.

uint64 timestamp			# time since system start (microseconds)
uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)

bool xy_valid				# true if x and y are valid
bool z_valid				# true if z is valid
bool v_xy_valid				# true if vx and vy are valid
bool v_z_valid				# true if vz is valid

# Position in local NED frame
float32 x				# North position in NED earth-fixed frame, (metres)
float32 y				# East position in NED earth-fixed frame, (metres)
float32 z				# Down position (negative altitude) in NED earth-fixed frame, (metres)

# Position reset delta
float32[2] delta_xy			# Amount of lateral shift of position estimate in latest reset (in x and y) [m]
uint8 xy_reset_counter			# Index of latest lateral position estimate reset
float32 delta_z				# Amount of vertical shift of position estimate in latest reset [m]
uint8 z_reset_counter			# Index of latest vertical position estimate reset

# Velocity in NED frame
float32 vx 				# North velocity in NED earth-fixed frame, (metres/sec)
float32 vy				# East velocity in NED earth-fixed frame, (metres/sec)
float32 vz				# Down velocity in NED earth-fixed frame, (metres/sec)
float32 z_deriv				# Down position time derivative in NED earth-fixed frame, (metres/sec)

# Velocity reset delta
float32[2] delta_vxy			# Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s]
uint8 vxy_reset_counter			# Index of latest vertical velocity estimate reset
float32 delta_vz			# Amount of vertical shift of velocity estimate in latest reset [m/s]
uint8 vz_reset_counter			# Index of latest vertical velocity estimate reset

# Acceleration in NED frame
float32 ax        # North velocity derivative in NED earth-fixed frame, (metres/sec^2)
float32 ay        # East velocity derivative in NED earth-fixed frame, (metres/sec^2)
float32 az        # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)

float32 heading				# Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI,  (radians)
float32 heading_var
float32 unaided_heading                 # Same as heading but generated by integrating corrected gyro data only
float32 delta_heading			# Heading delta caused by latest heading reset [rad]
uint8 heading_reset_counter		# Index of latest heading reset
bool heading_good_for_control

float32 tilt_var

# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
bool xy_global				# true if position (x, y) has a valid global reference (ref_lat, ref_lon)
bool z_global				# true if z has a valid global reference (ref_alt)
uint64 ref_timestamp			# Time when reference position was set since system start, (microseconds)
float64 ref_lat				# Reference point latitude, (degrees)
float64 ref_lon				# Reference point longitude, (degrees)
float32 ref_alt				# Reference altitude AMSL, (metres)

# Distance to surface
float32 dist_bottom			# Distance from from bottom surface to ground, (metres)
bool dist_bottom_valid			# true if distance to bottom surface is valid
uint8 dist_bottom_sensor_bitfield	# bitfield indicating what type of sensor is used to estimate dist_bottom
uint8 DIST_BOTTOM_SENSOR_NONE = 0
uint8 DIST_BOTTOM_SENSOR_RANGE = 1	# (1 << 0) a range sensor is used to estimate dist_bottom field
uint8 DIST_BOTTOM_SENSOR_FLOW = 2	# (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)

float32 eph				# Standard deviation of horizontal position error, (metres)
float32 epv				# Standard deviation of vertical position error, (metres)
float32 evh				# Standard deviation of horizontal velocity error, (metres/sec)
float32 evv				# Standard deviation of vertical velocity error, (metres/sec)

bool dead_reckoning                     # True if this position is estimated through dead-reckoning

# estimator specified vehicle limits
float32 vxy_max				# maximum horizontal speed - set to 0 when limiting not required (meters/sec)
float32 vz_max				# maximum vertical speed - set to 0 when limiting not required (meters/sec)
float32 hagl_min			# minimum height above ground level - set to 0 when limiting not required (meters)
float32 hagl_max			# maximum height above ground level - set to 0 when limiting not required (meters)

# TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position
# TOPICS estimator_local_position
port more uorb headers to msg 2015-01-28 02:54:58 -04:00			`# Fused local position in NED.`
vehicle_local_position: clarify origin of system 2021-09-22 03:11:13 -03:00			`# The coordinate system origin is the vehicle position at the time when the EKF2-module was started.`
port more uorb headers to msg 2015-01-28 02:54:58 -04:00
add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-06 21:30:05 -03:00			`uint64 timestamp # time since system start (microseconds)`
estimator messages add explicit timestamp_sample - timestamp is uORB publication metadata - this allows us to see what the system saw at publication time plus the latency in estimation 2020-09-01 15:38:41 -03:00			`uint64 timestamp_sample # the timestamp of the raw data (microseconds)`
add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-06 21:30:05 -03:00
msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2015-12-31 22:38:02 -04:00			`bool xy_valid # true if x and y are valid`
			`bool z_valid # true if z is valid`
small typo in vehicle_local_position msg 2021-12-17 10:21:00 -04:00			`bool v_xy_valid # true if vx and vy are valid`
msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2015-12-31 22:38:02 -04:00			`bool v_z_valid # true if vz is valid`
port more uorb headers to msg 2015-01-28 02:54:58 -04:00
			`# Position in local NED frame`
msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2015-12-31 22:38:02 -04:00			`float32 x # North position in NED earth-fixed frame, (metres)`
			`float32 y # East position in NED earth-fixed frame, (metres)`
			`float32 z # Down position (negative altitude) in NED earth-fixed frame, (metres)`
port more uorb headers to msg 2015-01-28 02:54:58 -04:00
added position and velocity reset data to local position topic Conflicts: msg/vehicle_local_position.msg 2016-06-06 05:41:24 -03:00			`# Position reset delta`
VehicleLocalPosition.msg: add comments for reset fields Signed-off-by: Silvan Fuhrer <silvan@auterion.com> 2023-11-20 10:35:57 -04:00			`float32[2] delta_xy # Amount of lateral shift of position estimate in latest reset (in x and y) [m]`
			`uint8 xy_reset_counter # Index of latest lateral position estimate reset`
			`float32 delta_z # Amount of vertical shift of position estimate in latest reset [m]`
			`uint8 z_reset_counter # Index of latest vertical position estimate reset`
added position and velocity reset data to local position topic Conflicts: msg/vehicle_local_position.msg 2016-06-06 05:41:24 -03:00
port more uorb headers to msg 2015-01-28 02:54:58 -04:00			`# Velocity in NED frame`
msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2015-12-31 22:38:02 -04:00			`float32 vx # North velocity in NED earth-fixed frame, (metres/sec)`
			`float32 vy # East velocity in NED earth-fixed frame, (metres/sec)`
			`float32 vz # Down velocity in NED earth-fixed frame, (metres/sec)`
msg: Add vertical derivative to vehicle position messages This enables control loops that are sensitive to vertical velocity offsets to use a vertical velocity that is kinematically consistent with the vertical position. 2017-04-26 21:42:59 -03:00			`float32 z_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)`
port more uorb headers to msg 2015-01-28 02:54:58 -04:00
added position and velocity reset data to local position topic Conflicts: msg/vehicle_local_position.msg 2016-06-06 05:41:24 -03:00			`# Velocity reset delta`
VehicleLocalPosition.msg: add comments for reset fields Signed-off-by: Silvan Fuhrer <silvan@auterion.com> 2023-11-20 10:35:57 -04:00			`float32[2] delta_vxy # Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s]`
			`uint8 vxy_reset_counter # Index of latest vertical velocity estimate reset`
			`float32 delta_vz # Amount of vertical shift of velocity estimate in latest reset [m/s]`
			`uint8 vz_reset_counter # Index of latest vertical velocity estimate reset`
added position and velocity reset data to local position topic Conflicts: msg/vehicle_local_position.msg 2016-06-06 05:41:24 -03:00
TECS: Use version in ECL library This change updates a number of interfaces to use the new TECS implementation from the ECL library. 2017-09-04 22:54:08 -03:00			`# Acceleration in NED frame`
			`float32 ax # North velocity derivative in NED earth-fixed frame, (metres/sec^2)`
			`float32 ay # East velocity derivative in NED earth-fixed frame, (metres/sec^2)`
			`float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)`
mavlink_receiver : Add external estimator interface 2016-11-17 10:54:11 -04:00
vehicle_local_position: rename yaw -> heading and add reset logic - vehicle_global_position yaw removed (redundant) 2020-08-07 15:06:38 -03:00			`float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)`
ekf2: fix computation of tilt and yaw variances add them to logging Co-authored-by: bresch <bresch@users.noreply.github.com> 2024-01-24 13:14:15 -04:00			`float32 heading_var`
ekf2: add unaided_yaw for more resilient yaw control This estimate doesn't converge to the true yaw but can be used as a more consistent but drifting heading source. It can be used by a setpoint generator to adjust its heading setpoint while the true yaw estimate is converging in order to keep a constant course over ground. 2023-08-18 11:31:43 -03:00			`float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only`
VehicleLocalPosition.msg: add comments for heading reset fields Signed-off-by: Silvan Fuhrer <silvan@auterion.com> 2023-11-20 10:39:02 -04:00			`float32 delta_heading # Heading delta caused by latest heading reset [rad]`
			`uint8 heading_reset_counter # Index of latest heading reset`
FlightTask: set yaw_setpoint to NAN when yaw should not be controlled 2021-09-20 10:36:47 -03:00			`bool heading_good_for_control`
port more uorb headers to msg 2015-01-28 02:54:58 -04:00
ekf2: fix computation of tilt and yaw variances add them to logging Co-authored-by: bresch <bresch@users.noreply.github.com> 2024-01-24 13:14:15 -04:00			`float32 tilt_var`

msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2015-12-31 22:38:02 -04:00			`# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame`
msg: correct definitions for local position origin validity flags 2016-12-27 19:49:17 -04:00			`bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon)`
			`bool z_global # true if z has a valid global reference (ref_alt)`
msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2015-12-31 22:38:02 -04:00			`uint64 ref_timestamp # Time when reference position was set since system start, (microseconds)`
			`float64 ref_lat # Reference point latitude, (degrees)`
			`float64 ref_lon # Reference point longitude, (degrees)`
Update vehicle_local_position.ref_alt comment to reflect how ref_alt is being used in PX4 2019-10-14 13:33:25 -03:00			`float32 ref_alt # Reference altitude AMSL, (metres)`
port more uorb headers to msg 2015-01-28 02:54:58 -04:00
			`# Distance to surface`
msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2015-12-31 22:38:02 -04:00			`float32 dist_bottom # Distance from from bottom surface to ground, (metres)`
			`bool dist_bottom_valid # true if distance to bottom surface is valid`
vehicle_local_position: added bitfield for terrain estimate sensor info - indicate how the distance to the bottom is estimated as this is important to know in the context Signed-off-by: RomanBapst <bapstroman@gmail.com> 2020-05-11 11:12:28 -03:00			`uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom`
			`uint8 DIST_BOTTOM_SENSOR_NONE = 0`
			`uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field`
			`uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)`
delete control_state and cleanup vehicle_attitude (#7882) 2017-09-21 17:24:53 -03:00
msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2015-12-31 22:38:02 -04:00			`float32 eph # Standard deviation of horizontal position error, (metres)`
Add position ground truth. (#5819) Have confirmed this works with gazebo sitl. 2016-11-09 20:38:38 -04:00			`float32 epv # Standard deviation of vertical position error, (metres)`
msg: add velocity accuracy reporting to local position topic 2017-03-07 19:50:29 -04:00			`float32 evh # Standard deviation of horizontal velocity error, (metres/sec)`
vehicle_local_position: fixed comment Signed-off-by: RomanBapst <bapstroman@gmail.com> 2022-07-25 09:54:21 -03:00			`float32 evv # Standard deviation of vertical velocity error, (metres/sec)`
Add position ground truth. (#5819) Have confirmed this works with gazebo sitl. 2016-11-09 20:38:38 -04:00
ekf2: vehicle_local_position add dead_reckoning flag 2022-07-12 10:53:04 -03:00			`bool dead_reckoning # True if this position is estimated through dead-reckoning`

msg: Add estimator required control limits to vehicle_local_positiion 2017-09-18 21:01:50 -03:00			`# estimator specified vehicle limits`
msg : add height limits to local position 2018-05-19 15:10:34 -03:00			`float32 vxy_max # maximum horizontal speed - set to 0 when limiting not required (meters/sec)`
			`float32 vz_max # maximum vertical speed - set to 0 when limiting not required (meters/sec)`
			`float32 hagl_min # minimum height above ground level - set to 0 when limiting not required (meters)`
			`float32 hagl_max # maximum height above ground level - set to 0 when limiting not required (meters)`
msg: Add estimator required control limits to vehicle_local_positiion 2017-09-18 21:01:50 -03:00
drivers: initial VectorNav (VN-100, VN-200, VN-300) support 2023-01-20 20:09:30 -04:00			`# TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position`
Multi-EKF support (ekf2) - ekf2 can now run in multi-instance mode (currently up to 9 instances) - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude) - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude) - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro) - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status - ekf2 single instance mode is still fully supported and the default Co-authored-by: Paul Riseborough <gncsolns@gmail.com> 2020-10-27 11:56:11 -03:00			`# TOPICS estimator_local_position`