FLIR Duo Pro R User Manual page 48

FLI R Duo P ro R Us e r Gui de
Time Boot
Time Unix
es�mator_type MAV_ESTIMATOR_TYPE
La�tude
Longitude
Al�tude (MSL)
Al�tude (Rela�ve)
Velocity X
Velocity Y
Velocity Z
covariance
HIL_GPS (113)
Field Name
�me_usec
fix_type
lat
lon
alt
eph
epv
vel
vn
ve
vd
uint32_t Timestamp (milliseconds since system boot)
uint64_t Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown.
uint8_t Class id of the es�mator this es�mate originated from.
int32_t La�tude, expressed as * 1E7
int32_t Longitude, expressed as * 1E7
Al�tude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that
int32_t
virtually all GPS modules provide the AMSL as well)
int32_t Al�tude above ground in meters, expressed as * 1000 (millimeters)
float Ground X Speed (La�tude), expressed as m/s * 100
float Ground Y Speed (Longitude), expressed as m/s * 100
float Ground Z Speed (Al�tude), expressed as m/s * 100
Covariance matrix (first six entries are the first ROW, next six entries are the second row,
float[36]
etc.
Type Official Descrip�on
uint64_t Timestamp (microseconds since UNIX epoch or microseconds since system boot)
0-1: no fix, 2: 2D fix, 3: 3D fix. Some applica�ons will not use the value of this field unless
uint8_t
it is at least two, so always correctly fill in the fix.
int32_t La�tude (WGS84), in degrees * 1E7
int32_t Longitude (WGS84), in degrees * 1E7
int32_t Al�tude (AMSL, not WGS84), in meters * 1000 (posi�ve for up)
uint16_t GPS HDOP horizontal dilu�on of posi�on in cm (m*100). If unknown, set to: 65535
uint16_t GPS VDOP ver�cal dilu�on of posi�on in cm (m*100). If unknown, set to: 65535
uint16_t GPS ground speed (m/s * 100). If unknown, set to: 65535
int16_t GPS velocity in cm/s in NORTH direc�on in earth-fixed NED frame
int16_t GPS velocity in cm/s in EAST direc�on in earth-fixed NED frame
int16_t GPS velocity in cm/s in DOWN direc�on in earth-fixed NED frame
Duo Pro R User Guide, Rev. 1.0
Informa�on on this page is subject to change without no�ce
Ignored
Ignored
Ignored
Meta = GPS La�tude
Meta = GPS Longitude
Meta = GPS Al�tude
Meta =
MAVRela�veAl�tude
Calc = GPS Speed
Calc = GPS Speed
Calc = GPS Speed
Ignored
FLIR Implementa�on
Ignored
Ignored
Meta = GPS La�tude
Meta = GPS Longitude
Meta = GPS Al�tude
Meta = GPSXYAccuracy
Meta = GPSZAccuracy
Ignored
Ignored
Ignored
Ignored
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