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68 lines
2.9 KiB
Markdown
68 lines
2.9 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# HomePositionV0 (UORB message)
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GPS home position in WGS84 coordinates.
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**TOPICS:** home_position_v0
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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` | | | time since system start (microseconds) |
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| lat | `float64` | | | Latitude in degrees |
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| lon | `float64` | | | Longitude in degrees |
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| alt | `float32` | | | Altitude in meters (AMSL) |
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| x | `float32` | | | X coordinate in meters |
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| y | `float32` | | | Y coordinate in meters |
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| z | `float32` | | | Z coordinate in meters |
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| yaw | `float32` | | | Yaw angle in radians |
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| valid_alt | `bool` | | | true when the altitude has been set |
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| valid_hpos | `bool` | | | true when the latitude and longitude have been set |
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| valid_lpos | `bool` | | | true when the local position (xyz) has been set |
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| manual_home | `bool` | | | true when home position was set manually |
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| update_count | `uint32` | | | update counter of the home position |
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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` | 0 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/HomePositionV0.msg)
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::: details Click here to see original file
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```c
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# GPS home position in WGS84 coordinates.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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float64 lat # Latitude in degrees
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float64 lon # Longitude in degrees
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float32 alt # Altitude in meters (AMSL)
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float32 x # X coordinate in meters
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float32 y # Y coordinate in meters
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float32 z # Z coordinate in meters
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float32 yaw # Yaw angle in radians
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bool valid_alt # true when the altitude has been set
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bool valid_hpos # true when the latitude and longitude have been set
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bool valid_lpos # true when the local position (xyz) has been set
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bool manual_home # true when home position was set manually
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uint32 update_count # update counter of the home position
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```
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:::
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