From 9264cec8070eefbfdf66d4af412b0ad74bc7dea5 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 1 Jan 2016 13:39:16 +1100 Subject: [PATCH] msg: Improve vehicle_gps_position documentation Clean up formatting, improve consistency of descriptions and ensure units are defined. --- msg/vehicle_gps_position.msg | 34 +++++++++++++++++----------------- 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/msg/vehicle_gps_position.msg b/msg/vehicle_gps_position.msg index 718144f327..697bfb51d5 100644 --- a/msg/vehicle_gps_position.msg +++ b/msg/vehicle_gps_position.msg @@ -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