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msg: Improve vehicle_local_position documentation

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Clean up formatting, improve consistency of descriptions and ensure units are defined
This commit is contained in:
Paul Riseborough
2016-01-01 13:38:02 +11:00
parent 28f5cb8fe6
commit 635d9ea760
1 changed files with 25 additions and 25 deletions
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50
msg/vehicle_local_position.msg
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@@ -1,36 +1,36 @@
# Fused local position in NED.
uint64 timestamp # Time of this estimate, in microseconds since system start
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
uint64 timestamp # Time of this estimate since system start, (microseconds)
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 # X position in meters in NED earth-fixed frame
float32 y # X position in meters in NED earth-fixed frame
float32 z # Z position in meters in NED earth-fixed frame (negative altitude)
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)
# Velocity in NED frame
float32 vx # Ground X Speed (Latitude), m/s in NED
float32 vy # Ground Y Speed (Longitude), m/s in NED
float32 vz # Ground Z Speed (Altitude), m/s in NED
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)
# Heading
float32 yaw
float32 yaw # Euler yaw angle relative to NED earth-fixed frame, -PI..+PI, (radians)
# Reference position in GPS / WGS84 frame
bool xy_global # true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
bool z_global # true if z is valid and has valid global reference (ref_alt)
uint64 ref_timestamp # Time when reference position was set
float64 ref_lat # Reference point latitude in degrees
float64 ref_lon # Reference point longitude in degrees
float32 ref_alt # Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level
# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
bool xy_global # true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
bool z_global # true if z is valid and has 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 to bottom surface (ground)
float32 dist_bottom_rate # Distance to bottom surface (ground) change rate
uint64 surface_bottom_timestamp # Time when new bottom surface found
bool dist_bottom_valid # true if distance to bottom surface is valid
float32 eph
float32 epv
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)
uint64 surface_bottom_timestamp # Time when new bottom surface found since system start, (microseconds)
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)