forked from Archive/PX4-Autopilot
78 lines
3.8 KiB
Plaintext
78 lines
3.8 KiB
Plaintext
# Fused local position in NED.
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# The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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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 vx 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 # North position in NED earth-fixed frame, (metres)
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float32 y # East position in NED earth-fixed frame, (metres)
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float32 z # Down position (negative altitude) in NED earth-fixed frame, (metres)
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# Position reset delta
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float32[2] delta_xy
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uint8 xy_reset_counter
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float32 delta_z
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uint8 z_reset_counter
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# Velocity in NED frame
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float32 vx # North velocity in NED earth-fixed frame, (metres/sec)
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float32 vy # East velocity in NED earth-fixed frame, (metres/sec)
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float32 vz # Down velocity in NED earth-fixed frame, (metres/sec)
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float32 z_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)
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# Velocity reset delta
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float32[2] delta_vxy
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uint8 vxy_reset_counter
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float32 delta_vz
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uint8 vz_reset_counter
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# Acceleration in NED frame
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float32 ax # North velocity derivative in NED earth-fixed frame, (metres/sec^2)
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float32 ay # East velocity derivative in NED earth-fixed frame, (metres/sec^2)
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float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)
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float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
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float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only
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float32 delta_heading
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uint8 heading_reset_counter
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bool heading_good_for_control
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# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
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bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon)
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bool z_global # true if z has a valid global reference (ref_alt)
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uint64 ref_timestamp # Time when reference position was set since system start, (microseconds)
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float64 ref_lat # Reference point latitude, (degrees)
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float64 ref_lon # Reference point longitude, (degrees)
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float32 ref_alt # Reference altitude AMSL, (metres)
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# Distance to surface
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float32 dist_bottom # Distance from from bottom surface to ground, (metres)
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bool dist_bottom_valid # true if distance to bottom surface is valid
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uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom
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uint8 DIST_BOTTOM_SENSOR_NONE = 0
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uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field
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uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)
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float32 eph # Standard deviation of horizontal position error, (metres)
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float32 epv # Standard deviation of vertical position error, (metres)
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float32 evh # Standard deviation of horizontal velocity error, (metres/sec)
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float32 evv # Standard deviation of vertical velocity error, (metres/sec)
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bool dead_reckoning # True if this position is estimated through dead-reckoning
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# estimator specified vehicle limits
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float32 vxy_max # maximum horizontal speed - set to 0 when limiting not required (meters/sec)
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float32 vz_max # maximum vertical speed - set to 0 when limiting not required (meters/sec)
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float32 hagl_min # minimum height above ground level - set to 0 when limiting not required (meters)
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float32 hagl_max # maximum height above ground level - set to 0 when limiting not required (meters)
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# TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position
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# TOPICS estimator_local_position
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