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28 lines
688 B
Plaintext
28 lines
688 B
Plaintext
#
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# GNSS nav solution with uncertainty.
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# Lat and lon are represented in integer degrees * 1e7, so 1 LSB = 1e-7 deg (approx. 11 mm per LSB on equator).
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# Alt is above ellipsoid, represented as meters * 1e2, so 1 LSB = 1e-2 meters (10 mm).
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# Velocity is in NED frame (north-east-down) in meters per second.
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#
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uavcan.Timestamp timestamp
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int32 lon_1e7
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int32 lat_1e7
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int24 alt_1e2
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float16[3] ned_velocity
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uint6 sats_used
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uint2 STATUS_NO_FIX = 0
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uint2 STATUS_TIME_ONLY = 1
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uint2 STATUS_2D_FIX = 2
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uint2 STATUS_3D_FIX = 3
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uint2 status
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float16 pdop # Negative if unknown
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float16[<=9] position_covariance # m^2
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float16[<=9] velocity_covariance # (m/s)^2
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