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23 KiB
23 KiB
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VehicleLocalPosition (повідомлення UORB)
Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
TOPICS: vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position estimator_local_position
Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|---|---|---|---|---|
| timestamp | uint64 |
time since system start (microseconds) | ||
| timestamp_sample | uint64 |
the timestamp of the raw data (microseconds) | ||
| xy_valid | bool |
true if x and y are valid | ||
| z_valid | bool |
true if z is valid | ||
| v_xy_valid | bool |
true if vx and vy are valid | ||
| v_z_valid | bool |
true if vz is valid | ||
| x | float32 |
North position in NED earth-fixed frame, (metres) | ||
| y | float32 |
East position in NED earth-fixed frame, (metres) | ||
| z | float32 |
Down position (negative altitude) in NED earth-fixed frame, (metres) | ||
| delta_xy | float32[2] |
Amount of lateral shift of position estimate in latest reset (in x and y) [m] | ||
| xy_reset_counter | uint8 |
Index of latest lateral position estimate reset | ||
| delta_z | float32 |
Amount of vertical shift of position estimate in latest reset [m] | ||
| z_reset_counter | uint8 |
Index of latest vertical position estimate reset | ||
| vx | float32 |
North velocity in NED earth-fixed frame, (metres/sec) | ||
| vy | float32 |
East velocity in NED earth-fixed frame, (metres/sec) | ||
| vz | float32 |
Down velocity in NED earth-fixed frame, (metres/sec) | ||
| z_deriv | float32 |
Down position time derivative in NED earth-fixed frame, (metres/sec) | ||
| delta_vxy | float32[2] |
Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s] | ||
| vxy_reset_counter | uint8 |
Index of latest vertical velocity estimate reset | ||
| delta_vz | float32 |
Amount of vertical shift of velocity estimate in latest reset [m/s] | ||
| vz_reset_counter | uint8 |
Index of latest vertical velocity estimate reset | ||
| ax | float32 |
North velocity derivative in NED earth-fixed frame, (metres/sec^2) | ||
| ay | float32 |
East velocity derivative in NED earth-fixed frame, (metres/sec^2) | ||
| az | float32 |
Down velocity derivative in NED earth-fixed frame, (metres/sec^2) | ||
| heading | float32 |
Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) | ||
| heading_var | float32 |
|||
| unaided_heading | float32 |
Same as heading but generated by integrating corrected gyro data only | ||
| delta_heading | float32 |
Heading delta caused by latest heading reset [rad] | ||
| heading_reset_counter | uint8 |
Index of latest heading reset | ||
| heading_good_for_control | bool |
|||
| tilt_var | float32 |
|||
| xy_global | bool |
true if position (x, y) has a valid global reference (ref_lat, ref_lon) | ||
| z_global | bool |
true if z has a valid global reference (ref_alt) | ||
| ref_timestamp | uint64 |
Time when reference position was set since system start, (microseconds) | ||
| ref_lat | float64 |
Reference point latitude, (degrees) | ||
| ref_lon | float64 |
Reference point longitude, (degrees) | ||
| ref_alt | float32 |
Reference altitude AMSL, (metres) | ||
| dist_bottom_valid | bool |
true if distance to bottom surface is valid | ||
| dist_bottom | float32 |
Distance from from bottom surface to ground, (metres) | ||
| dist_bottom_var | float32 |
terrain estimate variance (m^2) | ||
| delta_dist_bottom | float32 |
Amount of vertical shift of dist bottom estimate in latest reset [m] | ||
| dist_bottom_reset_counter | uint8 |
Index of latest dist bottom estimate reset | ||
| dist_bottom_sensor_bitfield | uint8 |
bitfield indicating what type of sensor is used to estimate dist_bottom | ||
| eph | float32 |
Standard deviation of horizontal position error, (metres) | ||
| epv | float32 |
Standard deviation of vertical position error, (metres) | ||
| evh | float32 |
Standard deviation of horizontal velocity error, (metres/sec) | ||
| evv | float32 |
Standard deviation of vertical velocity error, (metres/sec) | ||
| dead_reckoning | bool |
True if this position is estimated through dead-reckoning | ||
| vxy_max | float32 |
maximum horizontal speed (meters/sec) | ||
| vz_max | float32 |
maximum vertical speed (meters/sec) | ||
| hagl_min | float32 |
minimum height above ground level (meters) | ||
| hagl_max_z | float32 |
maximum height above ground level for z-control (meters) | ||
| hagl_max_xy | float32 |
maximum height above ground level for xy-control (meters) |
Constants
Source Message
:::details Click here to see original file
# Fused local position in NED.
# The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
bool xy_valid # true if x and y are valid
bool z_valid # true if z is valid
bool v_xy_valid # true if vx and vy are valid
bool v_z_valid # true if vz is valid
# Position in local NED frame
float32 x # North position in NED earth-fixed frame, (metres)
float32 y # East position in NED earth-fixed frame, (metres)
float32 z # Down position (negative altitude) in NED earth-fixed frame, (metres)
# Position reset delta
float32[2] delta_xy # Amount of lateral shift of position estimate in latest reset (in x and y) [m]
uint8 xy_reset_counter # Index of latest lateral position estimate reset
float32 delta_z # Amount of vertical shift of position estimate in latest reset [m]
uint8 z_reset_counter # Index of latest vertical position estimate reset
# Velocity in NED frame
float32 vx # North velocity in NED earth-fixed frame, (metres/sec)
float32 vy # East velocity in NED earth-fixed frame, (metres/sec)
float32 vz # Down velocity in NED earth-fixed frame, (metres/sec)
float32 z_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)
# Velocity reset delta
float32[2] delta_vxy # Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s]
uint8 vxy_reset_counter # Index of latest vertical velocity estimate reset
float32 delta_vz # Amount of vertical shift of velocity estimate in latest reset [m/s]
uint8 vz_reset_counter # Index of latest vertical velocity estimate reset
# Acceleration in NED frame
float32 ax # North velocity derivative in NED earth-fixed frame, (metres/sec^2)
float32 ay # East velocity derivative in NED earth-fixed frame, (metres/sec^2)
float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)
float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
float32 heading_var
float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only
float32 delta_heading # Heading delta caused by latest heading reset [rad]
uint8 heading_reset_counter # Index of latest heading reset
bool heading_good_for_control
float32 tilt_var
# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon)
bool z_global # true if z has a valid global reference (ref_alt)
uint64 ref_timestamp # Time when reference position was set since system start, (microseconds)
float64 ref_lat # Reference point latitude, (degrees)
float64 ref_lon # Reference point longitude, (degrees)
float32 ref_alt # Reference altitude AMSL, (metres)
# Distance to surface
bool dist_bottom_valid # true if distance to bottom surface is valid
float32 dist_bottom # Distance from from bottom surface to ground, (metres)
float32 dist_bottom_var # terrain estimate variance (m^2)
float32 delta_dist_bottom # Amount of vertical shift of dist bottom estimate in latest reset [m]
uint8 dist_bottom_reset_counter # Index of latest dist bottom estimate reset
uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom
uint8 DIST_BOTTOM_SENSOR_NONE = 0
uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field
uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)
float32 eph # Standard deviation of horizontal position error, (metres)
float32 epv # Standard deviation of vertical position error, (metres)
float32 evh # Standard deviation of horizontal velocity error, (metres/sec)
float32 evv # Standard deviation of vertical velocity error, (metres/sec)
bool dead_reckoning # True if this position is estimated through dead-reckoning
# estimator specified vehicle limits
# set to INFINITY when limiting not required
float32 vxy_max # maximum horizontal speed (meters/sec)
float32 vz_max # maximum vertical speed (meters/sec)
float32 hagl_min # minimum height above ground level (meters)
float32 hagl_max_z # maximum height above ground level for z-control (meters)
float32 hagl_max_xy # maximum height above ground level for xy-control (meters)
# TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position
# TOPICS estimator_local_position
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