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pageClass: is-wide-page
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# VehicleLocalPosition (UORB message)
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Fused local position in NED.
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The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
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Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg)
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**TOPICS:** vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position estimator_local_position
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| ------------------------------------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
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| xy_valid | `bool` | | | true if x and y are valid |
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| z_valid | `bool` | | | true if z is valid |
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| v_xy_valid | `bool` | | | true if vx and vy are valid |
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| v_z_valid | `bool` | | | true if vz is valid |
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| x | `float32` | | | North position in NED earth-fixed frame, (metres) |
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| y | `float32` | | | East position in NED earth-fixed frame, (metres) |
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| z | `float32` | | | Down position (negative altitude) in NED earth-fixed frame, (metres) |
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| delta_xy | `float32[2]` | | | Amount of lateral shift of position estimate in latest reset (in x and y) [m] |
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| xy_reset_counter | `uint8` | | | Index of latest lateral position estimate reset |
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| delta_z | `float32` | | | Amount of vertical shift of position estimate in latest reset [m] |
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| z_reset_counter | `uint8` | | | Index of latest vertical position estimate reset |
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| vx | `float32` | | | North velocity in NED earth-fixed frame, (metres/sec) |
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| vy | `float32` | | | East velocity in NED earth-fixed frame, (metres/sec) |
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| vz | `float32` | | | Down velocity in NED earth-fixed frame, (metres/sec) |
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| z_deriv | `float32` | | | Down position time derivative in NED earth-fixed frame, (metres/sec) |
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| delta_vxy | `float32[2]` | | | Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s] |
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| vxy_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset |
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| delta_vz | `float32` | | | Amount of vertical shift of velocity estimate in latest reset [m/s] |
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| vz_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset |
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| ax | `float32` | | | North velocity derivative in NED earth-fixed frame, (metres/sec^2) |
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| ay | `float32` | | | East velocity derivative in NED earth-fixed frame, (metres/sec^2) |
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| az | `float32` | | | Down velocity derivative in NED earth-fixed frame, (metres/sec^2) |
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| heading | `float32` | | | Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) |
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| heading_var | `float32` | | | |
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| unaided_heading | `float32` | | | Same as heading but generated by integrating corrected gyro data only |
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| delta_heading | `float32` | | | Heading delta caused by latest heading reset [rad] |
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| heading_reset_counter | `uint8` | | | Index of latest heading reset |
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| heading_good_for_control | `bool` | | | |
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| tilt_var | `float32` | | | |
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| xy_global | `bool` | | | true if position (x, y) has a valid global reference (ref_lat, ref_lon) |
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| z_global | `bool` | | | true if z has a valid global reference (ref_alt) |
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| ref_timestamp | `uint64` | | | Time when reference position was set since system start, (microseconds) |
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| ref_lat | `float64` | | | Reference point latitude, (degrees) |
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| ref_lon | `float64` | | | Reference point longitude, (degrees) |
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| ref_alt | `float32` | | | Reference altitude AMSL, (metres) |
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| dist_bottom_valid | `bool` | | | true if distance to bottom surface is valid |
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| dist_bottom | `float32` | | | Distance from from bottom surface to ground, (metres) |
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| dist_bottom_var | `float32` | | | terrain estimate variance (m^2) |
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| delta_dist_bottom | `float32` | | | Amount of vertical shift of dist bottom estimate in latest reset [m] |
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| dist_bottom_reset_counter | `uint8` | | | Index of latest dist bottom estimate reset |
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| dist_bottom_sensor_bitfield | `uint8` | | | bitfield indicating what type of sensor is used to estimate dist_bottom |
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| eph | `float32` | | | Standard deviation of horizontal position error, (metres) |
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| epv | `float32` | | | Standard deviation of vertical position error, (metres) |
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| evh | `float32` | | | Standard deviation of horizontal velocity error, (metres/sec) |
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| evv | `float32` | | | Standard deviation of vertical velocity error, (metres/sec) |
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| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning |
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| vxy_max | `float32` | | | maximum horizontal speed (meters/sec) |
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| vz_max | `float32` | | | maximum vertical speed (meters/sec) |
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| hagl_min | `float32` | | | minimum height above ground level (meters) |
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| hagl_max_z | `float32` | | | maximum height above ground level for z-control (meters) |
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| hagl_max_xy | `float32` | | | maximum height above ground level for xy-control (meters) |
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## Constants
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| 명칭 | 형식 | Value | 설명 |
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| -------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
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| <a href="#DIST_BOTTOM_SENSOR_NONE"></a> DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | |
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| <a href="#DIST_BOTTOM_SENSOR_RANGE"></a> DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field |
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| <a href="#DIST_BOTTOM_SENSOR_FLOW"></a> DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg)
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:::details
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Click here to see original file
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```c
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# Fused local position in NED.
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@@ -94,5 +171,6 @@ float32 hagl_max_xy # maximum height above ground level for xy-control (meters
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# TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position
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# TOPICS estimator_local_position
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```
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:::
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