forked from Archive/PX4-Autopilot
22 lines
1.3 KiB
Plaintext
22 lines
1.3 KiB
Plaintext
# Fused global position in WGS84.
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# This struct contains global position estimation. It is not the raw GPS
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# measurement (@see vehicle_gps_position). This topic is usually published by the position
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# estimator, which will take more sources of information into account than just GPS,
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# e.g. control inputs of the vehicle in a Kalman-filter implementation.
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#
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uint64 timestamp # Time of this estimate since system start, (microseconds)
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uint64 time_utc_usec # GPS UTC timestamp, (microseconds)
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float64 lat # Latitude, (degrees)
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float64 lon # Longitude, (degrees)
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float32 alt # Altitude AMSL, (meters)
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float32 vel_n # North velocity in NED earth-fixed frame, (metres/sec)
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float32 vel_e # East velocity in NED earth-fixed frame, (metres/sec)
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float32 vel_d # Down velocity in NED earth-fixed frame, (metres/sec)
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float32 yaw # Euler yaw angle relative to NED earth-fixed frame, -PI..+PI, (radians)
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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 terrain_alt # Terrain altitude WGS84, (metres)
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bool terrain_alt_valid # Terrain altitude estimate is valid
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bool dead_reckoning # True if this position is estimated through dead-reckoning
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float32 pressure_alt # Pressure altitude AMSL, (metres)
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