VehicleGlobalPosition (UORB message)
Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
TOPICS: vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position aux_global_position
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| timestamp_sample | uint64 | the timestamp of the raw data (microseconds) | ||
| lat | float64 | Latitude, (degrees) | ||
| lon | float64 | Longitude, (degrees) | ||
| alt | float32 | Altitude AMSL, (meters) | ||
| alt_ellipsoid | float32 | Altitude above ellipsoid, (meters) | ||
| lat_lon_valid | bool | |||
| alt_valid | bool | |||
| delta_alt | float32 | Reset delta for altitude | ||
| delta_terrain | float32 | Reset delta for terrain | ||
| lat_lon_reset_counter | uint8 | Counter for reset events on horizontal position coordinates | ||
| alt_reset_counter | uint8 | Counter for reset events on altitude | ||
| terrain_reset_counter | uint8 | Counter for reset events on terrain | ||
| eph | float32 | Standard deviation of horizontal position error, (metres) | ||
| epv | float32 | Standard deviation of vertical position error, (metres) | ||
| terrain_alt | float32 | Terrain altitude WGS84, (metres) | ||
| terrain_alt_valid | bool | Terrain altitude estimate is valid | ||
| dead_reckoning | bool | True if this position is estimated through dead-reckoning |
Constants
| Name | Type | Value | Description |
|---|---|---|---|
| MESSAGE_VERSION | uint32 | 0 |
Source Message
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c
# Fused global position in WGS84.
# This struct contains global position estimation. It is not the raw GPS
# measurement (@see vehicle_gps_position). This topic is usually published by the position
# estimator, which will take more sources of information into account than just GPS,
# e.g. control inputs of the vehicle in a Kalman-filter implementation.
#
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
float64 lat # Latitude, (degrees)
float64 lon # Longitude, (degrees)
float32 alt # Altitude AMSL, (meters)
float32 alt_ellipsoid # Altitude above ellipsoid, (meters)
bool lat_lon_valid
bool alt_valid
float32 delta_alt # Reset delta for altitude
float32 delta_terrain # Reset delta for terrain
uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates
uint8 alt_reset_counter # Counter for reset events on altitude
uint8 terrain_reset_counter # Counter for reset events on terrain
float32 eph # Standard deviation of horizontal position error, (metres)
float32 epv # Standard deviation of vertical position error, (metres)
float32 terrain_alt # Terrain altitude WGS84, (metres)
bool terrain_alt_valid # Terrain altitude estimate is valid
bool dead_reckoning # True if this position is estimated through dead-reckoning
# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
# TOPICS estimator_global_position
# TOPICS aux_global_position