VehicleGlobalPosition (UORB message)

Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS measurement (@see vehicle_gps_position). This topic is usually published by the position estimator, which will take more sources of information into account than just GPS, e.g. control inputs of the vehicle in a Kalman-filter implementation.

source file

```c

Fused global position in WGS84.

This struct contains global position estimation. It is not the raw GPS

measurement (@see vehicle_gps_position). This topic is usually published by the position

estimator, which will take more sources of information into account than just GPS,

e.g. control inputs of the vehicle in a Kalman-filter implementation.

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

float64 lat # Latitude, (degrees) float64 lon # Longitude, (degrees) float32 alt # Altitude AMSL, (meters) float32 alt_ellipsoid # Altitude above ellipsoid, (meters)

float32 delta_alt # Reset delta for altitude float32 delta_terrain # Reset delta for terrain uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates uint8 alt_reset_counter # Counter for reset events on altitude uint8 terrain_reset_counter # Counter for reset events on terrain

float32 eph # Standard deviation of horizontal position error, (metres) float32 epv # Standard deviation of vertical position error, (metres)

float32 terrain_alt # Terrain altitude WGS84, (metres) bool terrain_alt_valid # Terrain altitude estimate is valid

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

TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position

TOPICS estimator_global_position

TOPICS aux_global_position

```

Vehicleglobalposition