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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 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 # 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 # 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 # 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) 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 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)