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12 lines
786 B
12 lines
786 B
9 years ago
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uint64 timestamp # timestamp, UNIX epoch (GPS synced)
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uint8 est_capabilities # Flags to indicate which quantities the tracker knows about: (POS, VEL, ACCEL, ATT + RATES)
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uint32 lat # target position (deg * 1e7)
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uint32 lon # target position (deg * 1e7)
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float32 alt # target position
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float32[3] velocity # target velocity (AMSL, meters) # target position (0 0 0 for unknown)
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float32[3] accel # target acceleration (linear) in earth frame.
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float32[4] attitude_q # where the target is facing.
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float32[3] rates # (0 0 0 for unknown)
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float32[3] pos_cov # uncertainly in earth frame for X, Y and Z. We will need to agree on the exact format here -1 for unknown
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uint64 custom_state # A custom vector, can be used to transmit e.g. button states or switches of a tracker device
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