forked from Archive/PX4-Autopilot
37 lines
1.5 KiB
Plaintext
37 lines
1.5 KiB
Plaintext
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# Fused local position in NED.
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uint64 timestamp # Time of this estimate, in microseconds since system start
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bool xy_valid # true if x and y are valid
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bool z_valid # true if z is valid
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bool v_xy_valid # true if vy and vy are valid
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bool v_z_valid # true if vz is valid
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# Position in local NED frame
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float32 x # X position in meters in NED earth-fixed frame
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float32 y # X position in meters in NED earth-fixed frame
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float32 z # Z position in meters in NED earth-fixed frame (negative altitude)
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# Velocity in NED frame
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float32 vx # Ground X Speed (Latitude), m/s in NED
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float32 vy # Ground Y Speed (Longitude), m/s in NED
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float32 vz # Ground Z Speed (Altitude), m/s in NED
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# Heading
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float32 yaw
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# Reference position in GPS / WGS84 frame
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bool xy_global # true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
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bool z_global # true if z is valid and has valid global reference (ref_alt)
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uint64 ref_timestamp # Time when reference position was set
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float64 ref_lat # Reference point latitude in degrees
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float64 ref_lon # Reference point longitude in degrees
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float32 ref_alt # Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level
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# Distance to surface
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float32 dist_bottom # Distance to bottom surface (ground)
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float32 dist_bottom_rate # Distance to bottom surface (ground) change rate
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uint64 surface_bottom_timestamp # Time when new bottom surface found
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bool dist_bottom_valid # true if distance to bottom surface is valid
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float32 eph
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float32 epv
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