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87 lines
7.8 KiB
Markdown
87 lines
7.8 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleGlobalPositionV0 (UORB message)
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Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
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**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| -------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
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| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
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| <a id="fld_lat"></a>lat | `float64` | | | Latitude, (degrees) |
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| <a id="fld_lon"></a>lon | `float64` | | | Longitude, (degrees) |
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| <a id="fld_alt"></a>alt | `float32` | | | Altitude AMSL, (meters) |
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| <a id="fld_alt_ellipsoid"></a>alt_ellipsoid | `float32` | | | Altitude above ellipsoid, (meters) |
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| <a id="fld_lat_lon_valid"></a>lat_lon_valid | `bool` | | | |
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| <a id="fld_alt_valid"></a>alt_valid | `bool` | | | |
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| <a id="fld_delta_alt"></a>delta_alt | `float32` | | | Reset delta for altitude |
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| <a id="fld_delta_terrain"></a>delta_terrain | `float32` | | | Reset delta for terrain |
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| <a id="fld_lat_lon_reset_counter"></a>lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates |
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| <a id="fld_alt_reset_counter"></a>alt_reset_counter | `uint8` | | | Counter for reset events on altitude |
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| <a id="fld_terrain_reset_counter"></a>terrain_reset_counter | `uint8` | | | Counter for reset events on terrain |
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| <a id="fld_eph"></a>eph | `float32` | | | Standard deviation of horizontal position error, (metres) |
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| <a id="fld_epv"></a>epv | `float32` | | | Standard deviation of vertical position error, (metres) |
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| <a id="fld_terrain_alt"></a>terrain_alt | `float32` | | | Terrain altitude WGS84, (metres) |
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| <a id="fld_terrain_alt_valid"></a>terrain_alt_valid | `bool` | | | Terrain altitude estimate is valid |
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| <a id="fld_dead_reckoning"></a>dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning |
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## Constants
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| 명칭 | 형식 | Value | 설명 |
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| ------------------------------------------------------------------ | -------- | ----- | -- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleGlobalPositionV0.msg)
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:::details
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Click here to see original file
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```c
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# Fused global position in WGS84.
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# This struct contains global position estimation. It is not the raw GPS
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# measurement (@see vehicle_gps_position). This topic is usually published by the position
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# estimator, which will take more sources of information into account than just GPS,
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# e.g. control inputs of the vehicle in a Kalman-filter implementation.
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#
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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float64 lat # Latitude, (degrees)
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float64 lon # Longitude, (degrees)
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float32 alt # Altitude AMSL, (meters)
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float32 alt_ellipsoid # Altitude above ellipsoid, (meters)
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bool lat_lon_valid
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bool alt_valid
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float32 delta_alt # Reset delta for altitude
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float32 delta_terrain # Reset delta for terrain
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uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates
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uint8 alt_reset_counter # Counter for reset events on altitude
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uint8 terrain_reset_counter # Counter for reset events on terrain
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float32 eph # Standard deviation of horizontal position error, (metres)
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float32 epv # Standard deviation of vertical position error, (metres)
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float32 terrain_alt # Terrain altitude WGS84, (metres)
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bool terrain_alt_valid # Terrain altitude estimate is valid
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bool dead_reckoning # True if this position is estimated through dead-reckoning
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# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
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# TOPICS estimator_global_position
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```
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:::
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