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38 lines
2.3 KiB
Plaintext
38 lines
2.3 KiB
Plaintext
# FCU GPS RAW message for the gps_status plugin
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# A merge of <a href="https://mavlink.io/en/messages/common.html#GPS_RAW_INT">mavlink GPS_RAW_INT</a> and
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# <a href="https://mavlink.io/en/messages/common.html#GPS2_RAW">mavlink GPS2_RAW</a> messages.
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std_msgs/Header header
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## GPS_FIX_TYPE enum
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uint8 GPS_FIX_TYPE_NO_GPS = 0 # No GPS connected
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uint8 GPS_FIX_TYPE_NO_FIX = 1 # No position information, GPS is connected
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uint8 GPS_FIX_TYPE_2D_FIX = 2 # 2D position
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uint8 GPS_FIX_TYPE_3D_FIX = 3 # 3D position
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uint8 GPS_FIX_TYPE_DGPS = 4 # DGPS/SBAS aided 3D position
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uint8 GPS_FIX_TYPE_RTK_FLOAT = 5 # RTK float, 3D position
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uint8 GPS_FIX_TYPE_RTK_FIXED = 6 # RTK Fixed, 3D position
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uint8 GPS_FIX_TYPE_STATIC = 7 # Static fixed, typically used for base stations
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uint8 GPS_FIX_TYPE_PPP = 8 # PPP, 3D position
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uint8 fix_type # [GPS_FIX_TYPE] GPS fix type
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int32 lat # [degE7] Latitude (WGS84, EGM96 ellipsoid)
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int32 lon # [degE7] Longitude (WGS84, EGM96 ellipsoid)
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int32 alt # [mm] Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
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uint16 eph # GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
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uint16 epv # GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
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uint16 vel # [cm/s] GPS ground speed. If unknown, set to: UINT16_MAX
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uint16 cog # [cdeg] Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
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uint8 satellites_visible # Number of satellites visible. If unknown, set to 255
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# -*- only available with MAVLink v2.0 and GPS_RAW_INT messages -*-
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int32 alt_ellipsoid # [mm] Altitude (above WGS84, EGM96 ellipsoid). Positive for up.
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uint32 h_acc # [mm] Position uncertainty. Positive for up.
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uint32 v_acc # [mm] Altitude uncertainty. Positive for up.
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uint32 vel_acc # [mm] Speed uncertainty. Positive for up.
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int32 hdg_acc # [degE5] Heading / track uncertainty
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uint16 yaw # [cdeg] Yaw in earth frame from north.
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# -*- only available with MAVLink v2.0 and GPS2_RAW messages -*-
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uint8 dgps_numch # Number of DGPS satellites
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uint32 dgps_age # [ms] Age of DGPS info
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