# GPS home position in WGS84 coordinates. uint64 timestamp # Timestamp (microseconds since system boot) float64 lat # Latitude in degrees float64 lon # Longitude in degrees float32 alt # Altitude in meters (AMSL) float32 x # X coordinate in meters float32 y # Y coordinate in meters float32 z # Z coordinate in meters float32 yaw # Yaw angle in radians float32 direction_x # Takeoff direction in NED X float32 direction_y # Takeoff direction in NED Y float32 direction_z # Takeoff direction in NED Z