From 092b0d5dfba7932030250ee302b500c4b7900028 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 1 Jan 2016 13:38:21 +1100 Subject: [PATCH] msg: Improve vehicle_global_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined --- msg/vehicle_global_position.msg | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/msg/vehicle_global_position.msg b/msg/vehicle_global_position.msg index cee381e871..8aa7917df0 100644 --- a/msg/vehicle_global_position.msg +++ b/msg/vehicle_global_position.msg @@ -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)