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Add heading to true north to GPS report 

This is used by multi-antenna RTK systems.
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Lorenz Meier 2018-07-15 12:13:37 +02:00
parent 2931b85f0e
commit 89e49166fa
1 changed files with 1 additions and 0 deletions
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msg/vehicle_gps_position.msg
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@ -23,6 +23,7 @@ float32 vel_n_m_s # GPS North velocity, (metres/sec)
float32 vel_e_m_s # GPS East velocity, (metres/sec)
float32 vel_d_m_s # GPS Down velocity, (metres/sec)
float32 cog_rad # Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
float32 heading # Heading to true north (for RTK units with multiple antennas and heading support). Set to NaN if unknown.
bool vel_ned_valid # True if NED velocity is valid
int32 timestamp_time_relative # timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)