mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-03-28 10:13:03 +08:00
32 lines
1.2 KiB
Plaintext
32 lines
1.2 KiB
Plaintext
# Auxiliary global position
|
|
#
|
|
# This message provides global position data from an external source such as
|
|
# pseudolites, visual navigation, or other positioning system.
|
|
|
|
uint32 MESSAGE_VERSION = 1
|
|
|
|
uint64 timestamp # [us] Time since system start
|
|
uint64 timestamp_sample # [us] Timestamp of the raw data
|
|
|
|
uint8 id # [-] Unique identifier for the AGP source
|
|
uint8 source # [@enum SOURCE] Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC)
|
|
uint8 SOURCE_UNKNOWN = 0 # Unknown source
|
|
uint8 SOURCE_GNSS = 1 # GNSS
|
|
uint8 SOURCE_VISION = 2 # Vision
|
|
uint8 SOURCE_PSEUDOLITES = 3 # Pseudolites
|
|
uint8 SOURCE_TERRAIN = 4 # Terrain
|
|
uint8 SOURCE_MAGNETIC = 5 # Magnetic
|
|
uint8 SOURCE_ESTIMATOR = 6 # Estimator
|
|
|
|
# lat, lon: required for horizontal position fusion, alt: required for vertical position fusion
|
|
float64 lat # [deg] Latitude in WGS84
|
|
float64 lon # [deg] Longitude in WGS84
|
|
float32 alt # [m] [@invalid NaN] Altitude above mean sea level (AMSL)
|
|
|
|
float32 eph # [m] [@invalid NaN] Std dev of horizontal position, lower bounded by NOISE param
|
|
float32 epv # [m] [@invalid NaN] Std dev of vertical position, lower bounded by NOISE param
|
|
|
|
uint8 lat_lon_reset_counter # [-] Counter for reset events on horizontal position coordinates
|
|
|
|
# TOPICS aux_global_position
|