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.

source file

# 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.
#

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)

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