PX4-Autopilot/docs/en/msg_docs/HomePosition.md

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HomePosition (UORB message)

GPS home position in WGS84 coordinates.

TOPICS: home_position

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
lat	float64			Latitude in degrees
lon	float64			Longitude in degrees
alt	float32			Altitude in meters (AMSL)
x	float32			X coordinate in meters
y	float32			Y coordinate in meters
z	float32			Z coordinate in meters
roll	float32			Pitch angle in radians
pitch	float32			Roll angle in radians
yaw	float32			Yaw angle in radians
valid_alt	bool			true when the altitude has been set
valid_hpos	bool			true when the latitude and longitude have been set
valid_lpos	bool			true when the local position (xyz) has been set
manual_home	bool			true when home position was set manually
update_count	uint32			update counter of the home position

Constants

Name	Type	Value	Description
MESSAGE_VERSION	uint32	1

Source Message

Source file (GitHub)

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# GPS home position in WGS84 coordinates.

uint32 MESSAGE_VERSION = 1

uint64 timestamp			# time since system start (microseconds)

float64 lat				# Latitude in degrees
float64 lon				# Longitude in degrees
float32 alt				# Altitude in meters (AMSL)

float32 x				# X coordinate in meters
float32 y				# Y coordinate in meters
float32 z				# Z coordinate in meters

float32 roll				# Pitch angle in radians
float32 pitch				# Roll angle in radians
float32 yaw				# Yaw angle in radians

bool valid_alt		# true when the altitude has been set
bool valid_hpos		# true when the latitude and longitude have been set
bool valid_lpos		# true when the local position (xyz) has been set

bool manual_home	# true when home position was set manually

uint32 update_count 	# update counter of the home position

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