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27 lines
1.1 KiB
Plaintext
27 lines
1.1 KiB
Plaintext
# Landing target GNSS position in WGS84 coordinates, and optional NED velocity, from a target-mounted receiver.
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#
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# Published by: mavlink_receiver (when decoding TARGET_ABSOLUTE with position/velocity capability bits set).
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# Subscribed by: vision_target_estimator (VTEPosition).
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#
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# abs_pos_updated / vel_ned_updated tell the estimator which fields in this sample are fresh.
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Timestamp of the raw observation
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float64 latitude_deg # [deg] Latitude, allows centimeter level RTK precision
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float64 longitude_deg # [deg] Longitude, allows centimeter level RTK precision
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float32 altitude_msl_m # [m] Altitude above MSL
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float32 eph # [m] GNSS horizontal position accuracy
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float32 epv # [m] GNSS vertical position accuracy
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bool abs_pos_updated # True if WGS84 position is updated
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float32 vel_n_m_s # [m/s] GNSS North velocity
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float32 vel_e_m_s # [m/s] GNSS East velocity
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float32 vel_d_m_s # [m/s] GNSS Down velocity
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float32 s_acc_m_s # [m/s] GNSS speed accuracy estimate
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bool vel_ned_updated # True if NED velocity is updated
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