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msg: Improve vehicle_global_position documentation 

Clean up formatting, improve consistency of descriptions and ensure units are defined
This commit is contained in:
Paul Riseborough 2016-01-01 13:38:21 +11:00
parent 635d9ea760
commit 092b0d5dfb
1 changed files with 13 additions and 13 deletions
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26
msg/vehicle_global_position.msg
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@ -4,18 +4,18 @@
# 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
uint64 timestamp # Time of this estimate since system start, (microseconds)
uint64 time_utc_usec # GPS UTC timestamp, (microseconds)
float64 lat # Latitude, (degrees)
float64 lon # Longitude, (degrees)
float32 alt # Altitude AMSL, (meters)
float32 vel_n # North velocity in NED earth-fixed frame, (metres/sec)
float32 vel_e # East velocity in NED earth-fixed frame, (metres/sec)
float32 vel_d # Down velocity in NED earth-fixed frame, (metres/sec)
float32 yaw # Euler yaw angle relative to NED earth-fixed frame, -PI..+PI, (radians)
float32 eph # Standard deviation of horizontal position error, (metres)
float32 epv # Standard deviation of vertical position error, (metres)
float32 terrain_alt # Terrain altitude WGS84, (metres)
bool terrain_alt_valid # Terrain altitude estimate is valid
bool dead_reckoning # True if this position is estimated through dead-reckoning
float32 pressure_alt # Pressure altitude
float32 pressure_alt # Pressure altitude AMSL, (metres)