msg/vehicle_local_position.msg

# Fused local position in NED.

bool xy_valid				# true if x and y are valid
bool z_valid				# true if z is valid
bool v_xy_valid				# true if vy and vy are valid
bool v_z_valid				# true if vz is valid

# Position in local NED frame
float32 x				# North position in NED earth-fixed frame, (metres)
float32 y				# East position in NED earth-fixed frame, (metres)
float32 z				# Down position (negative altitude) in NED earth-fixed frame, (metres)

# Position reset delta
float32[2] delta_xy
uint8 xy_reset_counter

float32 delta_z
uint8 z_reset_counter

# Velocity in NED frame
float32 vx 				# North velocity in NED earth-fixed frame, (metres/sec)
float32 vy				# East velocity in NED earth-fixed frame, (metres/sec)
float32 vz				# Down velocity in NED earth-fixed frame, (metres/sec)
float32 z_deriv				# Down position time derivative in NED earth-fixed frame, (metres/sec)

# Velocity reset delta
float32[2] delta_vxy
uint8 vxy_reset_counter

float32 delta_vz
uint8 vz_reset_counter

# Heading
float32 yaw				# Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI,  (radians) 

# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
bool xy_global				# true if position (x, y) has a valid global reference (ref_lat, ref_lon)
bool z_global				# true if z has a valid global reference (ref_alt)
uint64 ref_timestamp			# Time when reference position was set since system start, (microseconds)
float64 ref_lat				# Reference point latitude, (degrees)
float64 ref_lon				# Reference point longitude, (degrees)
float32 ref_alt				# Reference altitude AMSL, MUST be set to current (not at reference point!) ground level, (metres)

# Distance to surface
float32 dist_bottom			# Distance from from bottom surface to ground, (metres)
float32 dist_bottom_rate		# Rate of change of distance from bottom surface to ground, (metres/sec)
bool dist_bottom_valid			# true if distance to bottom surface is valid

float32 eph				# Standard deviation of horizontal position error, (metres)
float32 epv				# Standard deviation of vertical position error, (metres)
float32 evh				# Standard deviation of horizontal velocity error, (metres/sec)
float32 evv				# Standard deviation of horizontal velocity error, (metres/sec)

# TOPICS vehicle_local_position vehicle_local_position_groundtruth vehicle_vision_position
port more uorb headers to msg 2015-01-28 07:54:58 +01:00			`# Fused local position in NED.`

msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2016-01-01 13:38:02 +11:00			`bool xy_valid # true if x and y are valid`
			`bool z_valid # true if z is valid`
			`bool v_xy_valid # true if vy and vy are valid`
			`bool v_z_valid # true if vz is valid`
port more uorb headers to msg 2015-01-28 07:54:58 +01:00
			`# Position in local NED frame`
msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2016-01-01 13:38:02 +11:00			`float32 x # North position in NED earth-fixed frame, (metres)`
			`float32 y # East position in NED earth-fixed frame, (metres)`
			`float32 z # Down position (negative altitude) in NED earth-fixed frame, (metres)`
port more uorb headers to msg 2015-01-28 07:54:58 +01:00
added position and velocity reset data to local position topic Conflicts: msg/vehicle_local_position.msg 2016-06-06 10:41:24 +02:00			`# Position reset delta`
			`float32[2] delta_xy`
delete control_state and cleanup vehicle_attitude (#7882) 2017-09-21 16:24:53 -04:00			`uint8 xy_reset_counter`

added position and velocity reset data to local position topic Conflicts: msg/vehicle_local_position.msg 2016-06-06 10:41:24 +02:00			`float32 delta_z`
delete control_state and cleanup vehicle_attitude (#7882) 2017-09-21 16:24:53 -04:00			`uint8 z_reset_counter`
added position and velocity reset data to local position topic Conflicts: msg/vehicle_local_position.msg 2016-06-06 10:41:24 +02:00
port more uorb headers to msg 2015-01-28 07:54:58 +01:00			`# Velocity in NED frame`
msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2016-01-01 13:38:02 +11:00			`float32 vx # North velocity in NED earth-fixed frame, (metres/sec)`
			`float32 vy # East velocity in NED earth-fixed frame, (metres/sec)`
			`float32 vz # Down velocity in NED earth-fixed frame, (metres/sec)`
msg: Add vertical derivative to vehicle position messages This enables control loops that are sensitive to vertical velocity offsets to use a vertical velocity that is kinematically consistent with the vertical position. 2017-04-27 10:42:59 +10:00			`float32 z_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)`
port more uorb headers to msg 2015-01-28 07:54:58 +01:00
added position and velocity reset data to local position topic Conflicts: msg/vehicle_local_position.msg 2016-06-06 10:41:24 +02:00			`# Velocity reset delta`
			`float32[2] delta_vxy`
			`uint8 vxy_reset_counter`

delete control_state and cleanup vehicle_attitude (#7882) 2017-09-21 16:24:53 -04:00			`float32 delta_vz`
			`uint8 vz_reset_counter`
mavlink_receiver : Add external estimator interface 2016-11-17 20:24:11 +05:30
port more uorb headers to msg 2015-01-28 07:54:58 +01:00			`# Heading`
uORB msg spec: Clarify local position yaw 2016-01-01 11:38:56 +01:00			`float32 yaw # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)`
port more uorb headers to msg 2015-01-28 07:54:58 +01:00
msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2016-01-01 13:38:02 +11:00			`# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame`
msg: correct definitions for local position origin validity flags 2016-12-28 10:49:17 +11:00			`bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon)`
			`bool z_global # true if z has a valid global reference (ref_alt)`
msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2016-01-01 13:38:02 +11:00			`uint64 ref_timestamp # Time when reference position was set since system start, (microseconds)`
			`float64 ref_lat # Reference point latitude, (degrees)`
			`float64 ref_lon # Reference point longitude, (degrees)`
			`float32 ref_alt # Reference altitude AMSL, MUST be set to current (not at reference point!) ground level, (metres)`
port more uorb headers to msg 2015-01-28 07:54:58 +01:00
			`# Distance to surface`
msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2016-01-01 13:38:02 +11:00			`float32 dist_bottom # Distance from from bottom surface to ground, (metres)`
			`float32 dist_bottom_rate # Rate of change of distance from bottom surface to ground, (metres/sec)`
			`bool dist_bottom_valid # true if distance to bottom surface is valid`
delete control_state and cleanup vehicle_attitude (#7882) 2017-09-21 16:24:53 -04:00
msg: Improve vehicle_local_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined 2016-01-01 13:38:02 +11:00			`float32 eph # Standard deviation of horizontal position error, (metres)`
Add position ground truth. (#5819) Have confirmed this works with gazebo sitl. 2016-11-09 19:38:38 -05:00			`float32 epv # Standard deviation of vertical position error, (metres)`
msg: add velocity accuracy reporting to local position topic 2017-03-08 10:50:29 +11:00			`float32 evh # Standard deviation of horizontal velocity error, (metres/sec)`
			`float32 evv # Standard deviation of horizontal velocity error, (metres/sec)`
Add position ground truth. (#5819) Have confirmed this works with gazebo sitl. 2016-11-09 19:38:38 -05:00
mavlink_receiver : Add external estimator interface 2016-11-17 20:24:11 +05:30			`# TOPICS vehicle_local_position vehicle_local_position_groundtruth vehicle_vision_position`