diff options
Diffstat (limited to 'msg/vehicle_local_position.msg')
| -rw-r--r-- | msg/vehicle_local_position.msg | 36 |
1 files changed, 36 insertions, 0 deletions
diff --git a/msg/vehicle_local_position.msg b/msg/vehicle_local_position.msg new file mode 100644 index 000000000..4da027ae7 --- /dev/null +++ b/msg/vehicle_local_position.msg @@ -0,0 +1,36 @@ +# 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 |