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20 lines
1.2 KiB
20 lines
1.2 KiB
# 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 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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