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.
# 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 altitudeuint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinatesuint8 alt_reset_counter # Counter for reset events on altitudefloat32 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 validbool 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