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36 lines
1.5 KiB
36 lines
1.5 KiB
# Fused local position in NED. |
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uint64 timestamp # Time of this estimate, in microseconds since system start |
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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 # X position in meters in NED earth-fixed frame |
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float32 y # X position in meters in NED earth-fixed frame |
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float32 z # Z position in meters in NED earth-fixed frame (negative altitude) |
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# Velocity in NED frame |
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float32 vx # Ground X Speed (Latitude), m/s in NED |
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float32 vy # Ground Y Speed (Longitude), m/s in NED |
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float32 vz # Ground Z Speed (Altitude), m/s in NED |
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# Heading |
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float32 yaw |
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# Reference position in GPS / WGS84 frame |
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bool xy_global # true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) |
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bool z_global # true if z is valid and has valid global reference (ref_alt) |
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uint64 ref_timestamp # Time when reference position was set |
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float64 ref_lat # Reference point latitude in degrees |
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float64 ref_lon # Reference point longitude in degrees |
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float32 ref_alt # Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level |
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# Distance to surface |
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float32 dist_bottom # Distance to bottom surface (ground) |
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float32 dist_bottom_rate # Distance to bottom surface (ground) change rate |
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uint64 surface_bottom_timestamp # Time when new bottom surface found |
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bool dist_bottom_valid # true if distance to bottom surface is valid |
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float32 eph |
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float32 epv
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