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# VehicleGlobalPosition (UORB message)

Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.

**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position

## Fields

| Name                  | Type      | Unit [Frame] | Range/Enum | Description                                                 |
| --------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------- |
| timestamp             | `uint64`  |              |            | time since system start (microseconds)                      |
| timestamp_sample      | `uint64`  |              |            | the timestamp of the raw data (microseconds)                |
| lat                   | `float64` |              |            | Latitude, (degrees)                                         |
| lon                   | `float64` |              |            | Longitude, (degrees)                                        |
| alt                   | `float32` |              |            | Altitude AMSL, (meters)                                     |
| alt_ellipsoid         | `float32` |              |            | Altitude above ellipsoid, (meters)                          |
| lat_lon_valid         | `bool`    |              |            |
| alt_valid             | `bool`    |              |            |
| delta_alt             | `float32` |              |            | Reset delta for altitude                                    |
| delta_terrain         | `float32` |              |            | Reset delta for terrain                                     |
| lat_lon_reset_counter | `uint8`   |              |            | Counter for reset events on horizontal position coordinates |
| alt_reset_counter     | `uint8`   |              |            | Counter for reset events on altitude                        |
| terrain_reset_counter | `uint8`   |              |            | Counter for reset events on terrain                         |
| eph                   | `float32` |              |            | Standard deviation of horizontal position error, (metres)   |
| epv                   | `float32` |              |            | Standard deviation of vertical position error, (metres)     |
| terrain_alt           | `float32` |              |            | Terrain altitude WGS84, (metres)                            |
| terrain_alt_valid     | `bool`    |              |            | Terrain altitude estimate is valid                          |
| dead_reckoning        | `bool`    |              |            | True if this position is estimated through dead-reckoning   |

## Constants

| Name                                          | Type     | Value | Description |
| --------------------------------------------- | -------- | ----- | ----------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0     |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg)

::: details Click here to see original file

```c
# Fused global position in WGS84.
# This struct contains global position estimation. It is not the raw GPS
# measurement (@see vehicle_gps_position). This topic is usually published by the position
# estimator, which will take more sources of information into account than just GPS,
# e.g. control inputs of the vehicle in a Kalman-filter implementation.
#

uint32 MESSAGE_VERSION = 0

uint64 timestamp		# time since system start (microseconds)
uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

float64 lat			# Latitude, (degrees)
float64 lon			# Longitude, (degrees)
float32 alt			# Altitude AMSL, (meters)
float32 alt_ellipsoid		# Altitude above ellipsoid, (meters)

bool lat_lon_valid
bool alt_valid

float32 delta_alt 	# Reset delta for altitude
float32 delta_terrain   # Reset delta for terrain
uint8 lat_lon_reset_counter	# Counter for reset events on horizontal position coordinates
uint8 alt_reset_counter 	# Counter for reset events on altitude
uint8 terrain_reset_counter     # Counter for reset events on terrain

float32 eph			# Standard deviation of horizontal position error, (metres)
float32 epv			# Standard deviation of vertical position error, (metres)

float32 terrain_alt		# Terrain altitude WGS84, (metres)
bool terrain_alt_valid		# Terrain altitude estimate is valid

bool dead_reckoning		# True if this position is estimated through dead-reckoning

# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
# TOPICS estimator_global_position
```

:::
