FLIR Duo Pro R - Page 48

FLIR Duo Pro R User Guide
Duo Pro R User Guide, Rev. 1.0
Information on this page is subject to change without notice
48
Time Boot
uint32_t
Timestamp (milliseconds since system boot)
Ignored
Time Unix
uint64_t
Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown.
Ignored
estimator_type
MAV_ESTIMATOR_TYPE
uint8_t
Class id of the estimator this estimate originated from.
Ignored
Latitude
int32_t
Latitude, expressed as * 1E7
Meta = GPS Latitude
Longitude
int32_t
Longitude, expressed as * 1E7
Meta = GPS Longitude
Altitude (MSL)
int32_t
Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that
virtually all GPS modules provide the AMSL as well)
Meta = GPS Altitude
Altitude (Relative)
int32_t
Altitude above ground in meters, expressed as * 1000 (millimeters)
Meta =
MAVRelativeAltitude
Velocity X
float
Ground X Speed (Latitude), expressed as m/s * 100
Calc = GPS Speed
Velocity Y
float
Ground Y Speed (Longitude), expressed as m/s * 100
Calc = GPS Speed
Velocity Z
float
Ground Z Speed (Altitude), expressed as m/s * 100
Calc = GPS Speed
covariance
float[36]
Covariance matrix (first six entries are the first ROW, next six entries are the second row,
etc.
Ignored
HIL_GPS (113)
Field Name
Type
Official Description
FLIR Implementation
time_usec
uint64_t
Timestamp (microseconds since UNIX epoch or microseconds since system boot)
Ignored
fix_type
uint8_t
0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless
it is at least two, so always correctly fill in the fix.
Ignored
lat
int32_t
Latitude (WGS84), in degrees * 1E7
Meta = GPS Latitude
lon
int32_t
Longitude (WGS84), in degrees * 1E7
Meta = GPS Longitude
alt
int32_t
Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
Meta = GPS Altitude
eph
uint16_t
GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
Meta = GPSXYAccuracy
epv
uint16_t
GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
Meta = GPSZAccuracy
vel
uint16_t
GPS ground speed (m/s * 100). If unknown, set to: 65535
Ignored
vn
int16_t
GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
Ignored
ve
int16_t
GPS velocity in cm/s in EAST direction in earth-fixed NED frame
Ignored
vd
int16_t
GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
Ignored