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docs/en/msg_docs/HomePositionV0.md
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---
pageClass: is-wide-page
---
# HomePositionV0 (UORB message)
GPS home position in WGS84 coordinates.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/HomePositionV0.msg)
**TOPICS:** home_positionv0
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------ | --------- | ------------ | ---------- | -------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| lat | `float64` | | | Latitude in degrees |
| lon | `float64` | | | Longitude in degrees |
| alt | `float32` | | | Altitude in meters (AMSL) |
| x | `float32` | | | X coordinate in meters |
| y | `float32` | | | Y coordinate in meters |
| z | `float32` | | | Z coordinate in meters |
| yaw | `float32` | | | Yaw angle in radians |
| valid_alt | `bool` | | | true when the altitude has been set |
| valid_hpos | `bool` | | | true when the latitude and longitude have been set |
| valid_lpos | `bool` | | | true when the local position (xyz) has been set |
| manual_home | `bool` | | | true when home position was set manually |
| update_count | `uint32` | | | update counter of the home position |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------- | -------- | ----- | ----------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/HomePositionV0.msg)
::: details Click here to see original file
```c
# GPS home position in WGS84 coordinates.
@@ -28,5 +62,6 @@ bool valid_lpos # true when the local position (xyz) has been set
bool manual_home # true when home position was set manually
uint32 update_count # update counter of the home position
```
:::