Vehiclelocalposition

VehicleLocalPosition (UORB message)

Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.

source file

```c

Fused local position in NED.

The coordinate system origin is the vehicle position at the time when the EKF2-module was started.

uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds)

bool xy_valid # true if x and y are valid bool z_valid # true if z is valid bool v_xy_valid # true if vx and vy are valid bool v_z_valid # true if vz is valid

Position in local NED frame

float32 x # North position in NED earth-fixed frame, (metres) float32 y # East position in NED earth-fixed frame, (metres) float32 z # Down position (negative altitude) in NED earth-fixed frame, (metres)

Position reset delta

float32[2] delta_xy # Amount of lateral shift of position estimate in latest reset (in x and y) [m] uint8 xy_reset_counter # Index of latest lateral position estimate reset float32 delta_z # Amount of vertical shift of position estimate in latest reset [m] uint8 z_reset_counter # Index of latest vertical position estimate reset

Velocity in NED frame

float32 vx # North velocity in NED earth-fixed frame, (metres/sec) float32 vy # East velocity in NED earth-fixed frame, (metres/sec) float32 vz # Down velocity in NED earth-fixed frame, (metres/sec) float32 z_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)

Velocity reset delta

float32[2] delta_vxy # Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s] uint8 vxy_reset_counter # Index of latest vertical velocity estimate reset float32 delta_vz # Amount of vertical shift of velocity estimate in latest reset [m/s] uint8 vz_reset_counter # Index of latest vertical velocity estimate reset

Acceleration in NED frame

float32 ax # North velocity derivative in NED earth-fixed frame, (metres/sec^2) float32 ay # East velocity derivative in NED earth-fixed frame, (metres/sec^2) float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)

float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) float32 heading_var float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only float32 delta_heading # Heading delta caused by latest heading reset [rad] uint8 heading_reset_counter # Index of latest heading reset bool heading_good_for_control

float32 tilt_var

Position of reference point (local NED frame origin) in global (GPS / WGS84) frame

bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon) bool z_global # true if z has a valid global reference (ref_alt) uint64 ref_timestamp # Time when reference position was set since system start, (microseconds) float64 ref_lat # Reference point latitude, (degrees) float64 ref_lon # Reference point longitude, (degrees) float32 ref_alt # Reference altitude AMSL, (metres)

Distance to surface

bool dist_bottom_valid # true if distance to bottom surface is valid float32 dist_bottom # Distance from from bottom surface to ground, (metres) float32 dist_bottom_var # terrain estimate variance (m^2)

float32 delta_dist_bottom # Amount of vertical shift of dist bottom estimate in latest reset [m] uint8 dist_bottom_reset_counter # Index of latest dist bottom estimate reset

uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom uint8 DIST_BOTTOM_SENSOR_NONE = 0 uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)

float32 eph # Standard deviation of horizontal position error, (metres) float32 epv # Standard deviation of vertical position error, (metres) float32 evh # Standard deviation of horizontal velocity error, (metres/sec) float32 evv # Standard deviation of vertical velocity error, (metres/sec)

bool dead_reckoning # True if this position is estimated through dead-reckoning

estimator specified vehicle limits

float32 vxy_max # maximum horizontal speed - set to 0 when limiting not required (meters/sec) float32 vz_max # maximum vertical speed - set to 0 when limiting not required (meters/sec) float32 hagl_min # minimum height above ground level - set to 0 when limiting not required (meters) float32 hagl_max # maximum height above ground level - set to 0 when limiting not required (meters)

TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position

TOPICS estimator_local_position

```