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Marco Hauswirth
af9f9ee030
Add dedicated message type for auxiliary global position sources. Separates aux_global_position from VehicleGlobalPosition topic. Includes source field for identifying position source type.
24 lines
989 B
Plaintext
24 lines
989 B
Plaintext
# Auxiliary global position
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# This message provides global position data from an external source such as
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# pseudolites, viusal navigation, or other positioning system.
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uint32 MESSAGE_VERSION = 0
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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 # 0: Unkown, 1: GNSS, 2: Vision, 3: Pseudolites, 4: Terrain, 5: Magnetic, 6: Estimator
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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] Altitude above mean sea level (AMSL)
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float32 eph # [m] Standard deviation of horizontal position error
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float32 epv # [m] Standard deviation of vertical position error
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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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