text: (window.webpackJsonp=window.webpackJsonp||[]).push([[763],{1910:function(t,s,a){"use strict";a.r(s);var e=a(19),n=Object(e.a)({},(function(){var t=this,s=t.$createElement,a=t._self._c||s;return a("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[a("h1",{attrs:{id:"vehicle-global-position-uorb-message"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#vehicle-global-position-uorb-message"}},[t._v("#")]),t._v(" vehicle_global_position (UORB message)")]),t._v(" "),a("p",[t._v("Fused global position in WGS84.\nThis struct contains global position estimation. It is not the raw GPS\nmeasurement (@see vehicle_gps_position). This topic is usually published by the position\nestimator, which will take more sources of information into account than just GPS,\ne.g. control inputs of the vehicle in a Kalman-filter implementation.")]),t._v(" "),a("p",[a("a",{attrs:{href:"https://github.com/PX4/PX4-Autopilot/blob/master/msg/vehicle_global_position.msg",target:"_blank",rel:"noopener noreferrer"}},[t._v("source file"),a("OutboundLink")],1)]),t._v(" "),a("div",{staticClass:"language-c extra-class"},[a("pre",{pre:!0,attrs:{class:"language-c"}},[a("code",[a("span",{pre:!0,attrs:{class:"token macro property"}},[a("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token expression"}},[t._v("Fused global position in WGS84"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")])])]),t._v("\n"),a("span",{pre:!0,attrs:{class:"token macro property"}},[a("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token expression"}},[t._v("This "),a("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("struct")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token class-name"}},[t._v("contains")]),t._v(" global position estimation"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v(" It is not the raw GPS")])]),t._v("\n"),a("span",{pre:!0,attrs:{class:"token macro property"}},[a("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token directive keyword"}},[t._v("measurement")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token expression"}},[a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("@see vehicle_gps_position"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v(" This topic is usually published by the position")])]),t._v("\n"),a("span",{pre:!0,attrs:{class:"token macro property"}},[a("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token directive keyword"}},[t._v("estimator")]),a("span",{pre:!0,attrs:{class:"token expression"}},[a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(",")]),t._v(" which will take more sources of information into account than just GPS"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(",")])])]),t._v("\n"),a("span",{pre:!0,attrs:{class:"token macro property"}},[a("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token directive keyword"}},[t._v("e")]),a("span",{pre:!0,attrs:{class:"token expression"}},[a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v("g"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v(" control inputs of the vehicle in a Kalman"),a("span",{pre:!0,attrs:{class:"token operator"}},[t._v("-")]),t._v("filter implementation"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")])])]),t._v("\n"),a("span",{pre:!0,attrs:{class:"token macro property"}},[a("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),t._v("\n\n"),a("span",{pre:!0,attrs:{class:"token directive keyword"}},[t._v("uint")]),a("span",{pre:!0,attrs:{class:"token expression"}},[a("span",{pre:!0,attrs:{class:"token number"}},[t._v("64")]),t._v(" timestamp\t\t# time since system "),a("span",{pre:!0,attrs:{class:"token function"}},[t._v("start")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("microseconds"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")])])]),t._v("\nuint64 timestamp_sample         # the timestamp of the raw "),a("span",{pre:!0,attrs:{class:"token function"}},[t._v("data")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("microseconds"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v("\n\nfloat64 lat\t\t\t# Latitude"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(",")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("degrees"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v("\nfloat64 lon\t\t\t# Longitude"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(",")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("degrees"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v("\nfloat32 alt\t\t\t# Altitude AMSL"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(",")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("meters"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v("\nfloat32 alt_ellipsoid\t\t# Altitude above ellipsoid"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(",")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("meters"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v("\n\nfloat32 delta_alt \t# Reset delta "),a("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("for")]),t._v(" altitude\nuint8 lat_lon_reset_counter\t# Counter "),a("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("for")]),t._v(" reset events on horizontal position coordinates\nuint8 alt_reset_counter \t# Counter "),a("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("for")]),t._v(" reset events on altitude\n\nfloat32 eph\t\t\t# Standard deviation of horizontal position error"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(",")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("metres"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v("\nfloat32 epv\t\t\t# Standard deviation of vertical position error"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(",")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("metres"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v("\n\nfloat32 terrain_alt\t\t# Terrain altitude WGS84"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(",")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("metres"),a("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v("\nbool terrain_alt_valid\t\t# Terrain altitude estimate is valid\n\nbool dead_reckoning\t\t# True "),a("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" this position is estimated through dead"),a("span",{pre:!0,attrs:{class:"token operator"}},[t._v("-")]),t._v("reckoning\n\n"),a("span",{pre:!0,attrs:{class:"token macro property"}},[a("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token expression"}},[t._v("TOPICS vehicle_global_position vehicle_global_position_groundtruth")])]),t._v("\n"),a("span",{pre:!0,attrs:{class:"token macro property"}},[a("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),t._v(" "),a("span",{pre:!0,attrs:{class:"token expression"}},[t._v("TOPICS estimator_global_position")])]),t._v("\n\n")])])])])}),[],!1,null,null,null);s.default=n.exports}}]);