fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 01:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

update agp-message. cleaner param descriptions.

Browse Source
This commit is contained in:
Marco Hauswirth
2026-02-12 16:10:31 +01:00
parent 62ee63ed7e
commit 77891df0e8
7 changed files with 28 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/versioned/AuxGlobalPosition.msg
+16 -8
View File
@@ -1,23 +1,31 @@
# Auxiliary global position
#
# This message provides global position data from an external source such as
# pseudolites, viusal navigation, or other positioning system.
# pseudolites, visual navigation, or other positioning system.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw data
uint8 id # Unique identifier for the AGP source
uint8 source # 0: Unkown, 1: GNSS, 2: Vision, 3: Pseudolites, 4: Terrain, 5: Magnetic, 6: Estimator
uint8 id # [-] Unique identifier for the AGP source
uint8 source # [@enum SOURCE] Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC)
uint8 SOURCE_UNKNOWN = 0 # Unknown source
uint8 SOURCE_GNSS = 1 # GNSS
uint8 SOURCE_VISION = 2 # Vision
uint8 SOURCE_PSEUDOLITES = 3 # Pseudolites
uint8 SOURCE_TERRAIN = 4 # Terrain
uint8 SOURCE_MAGNETIC = 5 # Magnetic
uint8 SOURCE_ESTIMATOR = 6 # Estimator
# lat, lon: required for horizontal position fusion, alt: required for vertical position fusion
float64 lat # [deg] Latitude in WGS84
float64 lon # [deg] Longitude in WGS84
float32 alt # [m] Altitude above mean sea level (AMSL)
float32 alt # [m] [@invalid NaN] Altitude above mean sea level (AMSL)
float32 eph # [m] Standard deviation of horizontal position error
float32 epv # [m] Standard deviation of vertical position error
float32 eph # [m] [@invalid NaN] Std dev of horizontal position, lower bounded by NOISE param
float32 epv # [m] [@invalid NaN] Std dev of vertical position, lower bounded by NOISE param
uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates
uint8 lat_lon_reset_counter # [-] Counter for reset events on horizontal position coordinates
# TOPICS aux_global_position