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