# FCU GPS RAW message for the gps_status plugin
# A merge of <a href="https://mavlink.io/en/messages/common.html#GPS_RAW_INT">mavlink GPS_RAW_INT</a> and
# <a href="https://mavlink.io/en/messages/common.html#GPS2_RAW">mavlink GPS2_RAW</a> messages.

std_msgs/Header header
## GPS_FIX_TYPE enum
uint8 GPS_FIX_TYPE_NO_GPS     = 0    # No GPS connected
uint8 GPS_FIX_TYPE_NO_FIX     = 1    # No position information, GPS is connected
uint8 GPS_FIX_TYPE_2D_FIX     = 2    # 2D position
uint8 GPS_FIX_TYPE_3D_FIX     = 3    # 3D position
uint8 GPS_FIX_TYPE_DGPS       = 4    # DGPS/SBAS aided 3D position
uint8 GPS_FIX_TYPE_RTK_FLOAT  = 5    # RTK float, 3D position
uint8 GPS_FIX_TYPE_RTK_FIXED  = 6    # RTK Fixed, 3D position
uint8 GPS_FIX_TYPE_STATIC     = 7    # Static fixed, typically used for base stations
uint8 GPS_FIX_TYPE_PPP        = 8    # PPP, 3D position
uint8 fix_type      # [GPS_FIX_TYPE] GPS fix type

int32 lat           # [degE7] Latitude (WGS84, EGM96 ellipsoid)
int32 lon           # [degE7] Longitude (WGS84, EGM96 ellipsoid)
int32 alt           # [mm] Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
uint16 eph          # GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
uint16 epv          # GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
uint16 vel          # [cm/s] GPS ground speed. If unknown, set to: UINT16_MAX
uint16 cog          # [cdeg] Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
uint8 satellites_visible # Number of satellites visible. If unknown, set to 255

# -*- only available with MAVLink v2.0 and GPS_RAW_INT messages -*-
int32 alt_ellipsoid # [mm] Altitude (above WGS84, EGM96 ellipsoid). Positive for up.
uint32 h_acc        # [mm] Position uncertainty. Positive for up.
uint32 v_acc        # [mm] Altitude uncertainty. Positive for up.
uint32 vel_acc      # [mm] Speed uncertainty. Positive for up.
int32  hdg_acc      # [degE5] Heading / track uncertainty
uint16 yaw          # [cdeg] Yaw in earth frame from north.

# -*- only available with MAVLink v2.0 and GPS2_RAW messages -*-
uint8 dgps_numch    # Number of DGPS satellites
uint32 dgps_age     # [ms] Age of DGPS info