mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-25 22:07:39 +08:00
71 lines
4.8 KiB
Markdown
71 lines
4.8 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# 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
|
|
```
|
|
|
|
:::
|