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msg: Improve vehicle_gps_position documentation

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Clean up formatting, improve consistency of descriptions and ensure units are defined.
This commit is contained in:
Paul Riseborough 2016-01-01 13:39:16 +11:00
parent 092b0d5dfb
commit 9264cec807
1 changed files with 17 additions and 17 deletions
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34
msg/vehicle_gps_position.msg
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@ -1,30 +1,30 @@
# GPS position in WGS84 coordinates.
uint64 timestamp_position # Timestamp for position information
int32 lat # Latitude in 1E-7 degrees
uint64 timestamp_position # Time of the position estimates since system start, (microseconds)
int32 lat # Latitude in 1E-7 degrees
int32 lon # Longitude in 1E-7 degrees
int32 alt # Altitude in 1E-3 meters (millimeters) above MSL
int32 alt_ellipsoid # Altitude in 1E-3 meters (millimeters) above Ellipsoid
int32 alt # Altitude in 1E-3 meters above MSL, (millimetres)
int32 alt_ellipsoid # Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
uint64 timestamp_variance
float32 s_variance_m_s # speed accuracy estimate m/s
float32 c_variance_rad # course accuracy estimate rad
uint64 timestamp_variance # Time of the accuracy estimates since system start, (microseconds)
float32 s_variance_m_s # GPS speed accuracy estimate, (metres/sec)
float32 c_variance_rad # GPS course accuracy estimate, (radians)
uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
float32 eph # GPS HDOP horizontal dilution of position in m
float32 epv # GPS VDOP horizontal dilution of position in m
float32 eph # GPS horizontal position accuracy (metres)
float32 epv # GPS vertical position accuracy (metres)
int32 noise_per_ms # GPS noise per millisecond
int32 jamming_indicator # indicates jamming is occurring
uint64 timestamp_velocity # Timestamp for velocity informations
float32 vel_m_s # GPS ground speed (m/s)
float32 vel_n_m_s # GPS ground speed in m/s
float32 vel_e_m_s # GPS ground speed in m/s
float32 vel_d_m_s # GPS ground speed in m/s
float32 cog_rad # Course over ground (NOT heading, but direction of movement) in rad, -PI..PI
bool vel_ned_valid # Flag to indicate if NED speed is valid
uint64 timestamp_velocity # Time of the velocity estimates since system start, (microseconds)
float32 vel_m_s # GPS ground speed, (metres/sec)
float32 vel_n_m_s # GPS North velocity, (metres/sec)
float32 vel_e_m_s # GPS East velocity, (metres/sec)
float32 vel_d_m_s # GPS Down velocity, (metres/sec)
float32 cog_rad # Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
bool vel_ned_valid # True if NED velocity is valid
uint64 timestamp_time # Timestamp for time information
uint64 timestamp_time # Time of the UTC timestamp since system start, (microseconds)
uint64 time_utc_usec # Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0
uint8 satellites_used # Number of satellites used