forked from Archive/PX4-Autopilot
67 lines
3.1 KiB
Plaintext
67 lines
3.1 KiB
Plaintext
# Fused local position in NED.
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uint8 ESTIMATOR_TYPE_NAIVE = 1 # Estimator without real covariance feedback
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uint8 ESTIMATOR_TYPE_VISION = 2 # Computer vision based estimate. Might be up to scale.
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uint8 ESTIMATOR_TYPE_VIO = 3 # Visual-Inertial estimator.
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uint8 ESTIMATOR_TYPE_GPS = 4 # Plain GPS estimate.
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uint8 ESTIMATOR_TYPE_GPS_INS = 5 # Estimator integrating GPS and inertial sensing.
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uint8 estimator_type # type of estimator according to above types
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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 vy 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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float32 delta_z
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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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float32 delta_vz
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uint8 xy_reset_counter
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uint8 z_reset_counter
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uint8 vxy_reset_counter
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uint8 vz_reset_counter
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# Acceleration in NED frame
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float32 ax # North acceleration in NED earth-fixed frame, (metres/sec^2)
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float32 ay # East acceleration in NED earth-fixed frame, (metres/sec^2)
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float32 az # Down acceleration in NED earth-fixed frame, (metres/sec^2)
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# Heading
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float32 yaw # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
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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, MUST be set to current (not at reference point!) ground level, (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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float32 dist_bottom_rate # Rate of change of distance from bottom surface to ground, (metres/sec)
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uint64 surface_bottom_timestamp # Time when new bottom surface found since system start, (microseconds)
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bool dist_bottom_valid # true if distance to bottom surface is valid
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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 horizontal velocity error, (metres/sec)
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# TOPICS vehicle_local_position vehicle_local_position_groundtruth vehicle_vision_position
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