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90 lines
4.5 KiB
Markdown
90 lines
4.5 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# AuxGlobalPosition (UORB message)
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Auxiliary global position.
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This message provides global position data from an external source such as
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pseudolites, visual navigation, or other positioning system.
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**TOPICS:** aux_global_position
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| --------------------- | --------- | ------------ | ----------------- | --------------------------------------------------------------------------- |
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| timestamp | `uint64` | us | | Time since system start |
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| timestamp_sample | `uint64` | us | | Timestamp of the raw data |
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| id | `uint8` | | | Unique identifier for the AGP source |
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| source | `uint8` | | [SOURCE](#SOURCE) | Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC) |
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| lat | `float64` | deg | | Latitude in WGS84 |
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| lon | `float64` | deg | | Longitude in WGS84 |
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| alt | `float32` | m | | Altitude above mean sea level (AMSL) (Invalid: NaN) |
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| eph | `float32` | m | | Std dev of horizontal position, lower bounded by NOISE param (Invalid: NaN) |
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| epv | `float32` | m | | Std dev of vertical position, lower bounded by NOISE param (Invalid: NaN) |
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| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates |
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## Enums
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### SOURCE {#SOURCE}
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| Name | Type | Value | Description |
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| --------------------------------------------------- | ------- | ----- | -------------- |
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| <a id="#SOURCE_UNKNOWN"></a> SOURCE_UNKNOWN | `uint8` | 0 | Unknown source |
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| <a id="#SOURCE_GNSS"></a> SOURCE_GNSS | `uint8` | 1 | GNSS |
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| <a id="#SOURCE_VISION"></a> SOURCE_VISION | `uint8` | 2 | Vision |
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| <a id="#SOURCE_PSEUDOLITES"></a> SOURCE_PSEUDOLITES | `uint8` | 3 | Pseudolites |
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| <a id="#SOURCE_TERRAIN"></a> SOURCE_TERRAIN | `uint8` | 4 | Terrain |
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| <a id="#SOURCE_MAGNETIC"></a> SOURCE_MAGNETIC | `uint8` | 5 | Magnetic |
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| <a id="#SOURCE_ESTIMATOR"></a> SOURCE_ESTIMATOR | `uint8` | 6 | Estimator |
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## Constants
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| Name | Type | Value | Description |
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| --------------------------------------------- | -------- | ----- | ----------- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AuxGlobalPosition.msg)
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::: details Click here to see original file
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```c
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# Auxiliary global position
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#
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# This message provides global position data from an external source such as
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# pseudolites, visual navigation, or other positioning system.
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Timestamp of the raw data
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uint8 id # [-] Unique identifier for the AGP source
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uint8 source # [@enum SOURCE] Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC)
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uint8 SOURCE_UNKNOWN = 0 # Unknown source
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uint8 SOURCE_GNSS = 1 # GNSS
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uint8 SOURCE_VISION = 2 # Vision
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uint8 SOURCE_PSEUDOLITES = 3 # Pseudolites
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uint8 SOURCE_TERRAIN = 4 # Terrain
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uint8 SOURCE_MAGNETIC = 5 # Magnetic
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uint8 SOURCE_ESTIMATOR = 6 # Estimator
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# lat, lon: required for horizontal position fusion, alt: required for vertical position fusion
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float64 lat # [deg] Latitude in WGS84
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float64 lon # [deg] Longitude in WGS84
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float32 alt # [m] [@invalid NaN] Altitude above mean sea level (AMSL)
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float32 eph # [m] [@invalid NaN] Std dev of horizontal position, lower bounded by NOISE param
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float32 epv # [m] [@invalid NaN] Std dev of vertical position, lower bounded by NOISE param
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uint8 lat_lon_reset_counter # [-] Counter for reset events on horizontal position coordinates
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# TOPICS aux_global_position
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```
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:::
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