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vehicle_local_position.msg
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vehicle_local_position.msg
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# Fused local position in NED.
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (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 # 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
# Acceleration in NED frame
float32 ax # North velocity derivative in NED earth-fixed frame, (metres/sec^2)
float32 ay # East velocity derivative in NED earth-fixed frame, (metres/sec^2)
float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)
float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
float32 delta_heading
uint8 heading_reset_counter
# 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, (metres)
# Distance to surface
float32 dist_bottom # Distance from from bottom surface to ground, (metres)
bool dist_bottom_valid # true if distance to bottom surface is valid
uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom
uint8 DIST_BOTTOM_SENSOR_NONE = 0
uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field
uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)
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)
# estimator specified vehicle limits
float32 vxy_max # maximum horizontal speed - set to 0 when limiting not required (meters/sec)
float32 vz_max # maximum vertical speed - set to 0 when limiting not required (meters/sec)
float32 hagl_min # minimum height above ground level - set to 0 when limiting not required (meters)
float32 hagl_max # maximum height above ground level - set to 0 when limiting not required (meters)
# TOPICS vehicle_local_position vehicle_local_position_groundtruth
# TOPICS estimator_local_position