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GNSS fix message update

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Pavel Kirienko 2014-09-03 21:41:27 +04:00
parent c4c14c60fb
commit 286adbcc56
1 changed files with 6 additions and 8 deletions
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14
dsdl/uavcan/equipment/gnss/300.Fix.uavcan
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@ -1,19 +1,17 @@
#
# GNSS nav solution with uncertainty.
# Lat and lon are represented in integer degrees * 1e7, so 1 LSB = 1e-7 deg (approx. 11 mm per LSB on equator).
# Alt is above ellipsoid, represented as meters * 1e2, so 1 LSB = 1e-2 meters (10 mm).
# Velocity is in NED frame (north-east-down) in meters per second.
# GNSS navigation solution with uncertainty.
#
uavcan.Timestamp timestamp # Global network-synchronized time, if available, otherwise zero
uavcan.Timestamp gnss_timestamp # GNSS timestamp (UTC is preferred), if available, otherwise zero
int32 lon_1e7
int32 lat_1e7
int24 alt_1e2
int37 longitude_deg_1e8 # Longitude degrees multiplied by 1e8 (approx. 1 mm per LSB)
int37 latitude_deg_1e8 # Latitude degrees multiplied by 1e8 (approx. 1 mm per LSB on equator)
int27 height_ellipsoid_mm # Height above ellipsoid in millimeters
int27 height_msl_mm # Height above mean sea level in millimeters
float16[3] ned_velocity
float16[3] ned_velocity # NED frame (north-east-down) in meters per second
uint6 sats_used