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# TargetGnss (UORB message)

Landing target GNSS position in WGS84 coordinates, and optional NED velocity, from a target-mounted receiver.

Published by: mavlink_receiver (when decoding TARGET_ABSOLUTE with position/velocity capability bits set).
Subscribed by: vision_target_estimator (VTEPosition).

abs_pos_updated / vel_ned_updated tell the estimator which fields in this sample are fresh.

**TOPICS:** target_gnss

## Fields

| Назва                                                                                              | Тип       | Unit [Frame] | Range/Enum | Опис                                             |
| -------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp                                                                | `uint64`  | us                                                               |            | Time since system start                          |
| <a id="fld_timestamp_sample"></a>timestamp_sample                             | `uint64`  | us                                                               |            | Timestamp of the raw observation                 |
| <a id="fld_latitude_deg"></a>latitude_deg                                     | `float64` | deg                                                              |            | Latitude, allows centimeter level RTK precision  |
| <a id="fld_longitude_deg"></a>longitude_deg                                   | `float64` | deg                                                              |            | Longitude, allows centimeter level RTK precision |
| <a id="fld_altitude_msl_m"></a>altitude_msl_m            | `float32` | m                                                                |            | Altitude above MSL                               |
| <a id="fld_eph"></a>eph                                                                            | `float32` | m                                                                |            | GNSS horizontal position accuracy                |
| <a id="fld_epv"></a>epv                                                                            | `float32` | m                                                                |            | GNSS vertical position accuracy                  |
| <a id="fld_abs_pos_updated"></a>abs_pos_updated          | `bool`    |                                                                  |            | True if WGS84 position is updated                |
| <a id="fld_vel_n_m_s"></a>vel_n_m_s | `float32` | m/s                                                              |            | GNSS North velocity                              |
| <a id="fld_vel_e_m_s"></a>vel_e_m_s | `float32` | m/s                                                              |            | GNSS East velocity                               |
| <a id="fld_vel_d_m_s"></a>vel_d_m_s | `float32` | m/s                                                              |            | GNSS Down velocity                               |
| <a id="fld_s_acc_m_s"></a>s_acc_m_s | `float32` | m/s                                                              |            | GNSS speed accuracy estimate                     |
| <a id="fld_vel_ned_updated"></a>vel_ned_updated          | `bool`    |                                                                  |            | True if NED velocity is updated                  |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TargetGnss.msg)

:::details
Click here to see original file

```c
# Landing target GNSS position in WGS84 coordinates, and optional NED velocity, from a target-mounted receiver.
#
# Published by: mavlink_receiver (when decoding TARGET_ABSOLUTE with position/velocity capability bits set).
# Subscribed by: vision_target_estimator (VTEPosition).
#
# abs_pos_updated / vel_ned_updated tell the estimator which fields in this sample are fresh.

uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw observation

float64 latitude_deg # [deg] Latitude, allows centimeter level RTK precision
float64 longitude_deg # [deg] Longitude, allows centimeter level RTK precision
float32 altitude_msl_m # [m] Altitude above MSL

float32 eph # [m] GNSS horizontal position accuracy
float32 epv # [m] GNSS vertical position accuracy

bool abs_pos_updated # True if WGS84 position is updated

float32 vel_n_m_s # [m/s] GNSS North velocity
float32 vel_e_m_s # [m/s] GNSS East velocity
float32 vel_d_m_s # [m/s] GNSS Down velocity

float32 s_acc_m_s # [m/s] GNSS speed accuracy estimate

bool vel_ned_updated # True if NED velocity is updated
```

:::