From 286adbcc56c4b093143b647ec7546abb149cd53b Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Wed, 3 Sep 2014 21:41:27 +0400 Subject: [PATCH] GNSS fix message update --- dsdl/uavcan/equipment/gnss/300.Fix.uavcan | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/dsdl/uavcan/equipment/gnss/300.Fix.uavcan b/dsdl/uavcan/equipment/gnss/300.Fix.uavcan index 0883330cc2..8e3997307e 100644 --- a/dsdl/uavcan/equipment/gnss/300.Fix.uavcan +++ b/dsdl/uavcan/equipment/gnss/300.Fix.uavcan @@ -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