PX4 Firmware
PX4 Autopilot Software http://px4.io
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estimator::gpsSample Struct Reference

#include <common.h>

Collaboration diagram for estimator::gpsSample:

Public Attributes

Vector2f pos
 NE earth frame gps horizontal position measurement (m) More...
 
float hgt
 gps height measurement (m) More...
 
Vector3f vel
 NED earth frame gps velocity measurement (m/sec) More...
 
float yaw
 yaw angle. NaN if not set (used for dual antenna GPS), (rad, [-PI, PI]) More...
 
float hacc
 1-std horizontal position error (m) More...
 
float vacc
 1-std vertical position error (m) More...
 
float sacc
 1-std speed error (m/sec) More...
 
uint64_t time_us
 timestamp of the measurement (uSec) More...
 

Detailed Description

Definition at line 114 of file common.h.

Member Data Documentation

◆ hacc

float estimator::gpsSample::hacc

1-std horizontal position error (m)

Definition at line 119 of file common.h.

Referenced by Ekf::controlGpsFusion(), Ekf::resetHeight(), Ekf::resetPosition(), and EstimatorInterface::setGpsData().

◆ hgt

float estimator::gpsSample::hgt

gps height measurement (m)

Definition at line 116 of file common.h.

Referenced by Ekf::controlGpsFusion(), Ekf::controlHeightFusion(), Ekf::fuseVelPosHeight(), Ekf::resetHeight(), and EstimatorInterface::setGpsData().

◆ pos

Vector2f estimator::gpsSample::pos

NE earth frame gps horizontal position measurement (m)

Definition at line 115 of file common.h.

Referenced by Ekf::controlGpsFusion(), Ekf::resetPosition(), and EstimatorInterface::setGpsData().

◆ sacc

float estimator::gpsSample::sacc

1-std speed error (m/sec)

Definition at line 121 of file common.h.

Referenced by Ekf::controlGpsFusion(), Ekf::fuseVelPosHeight(), Ekf::realignYawGPS(), Ekf::resetHeight(), Ekf::resetVelocity(), and EstimatorInterface::setGpsData().

◆ time_us

uint64_t estimator::gpsSample::time_us

timestamp of the measurement (uSec)

Definition at line 122 of file common.h.

Referenced by Ekf::controlFusionModes(), Ekf::controlGpsFusion(), Ekf::controlHeightSensorTimeouts(), Ekf::resetHeight(), and EstimatorInterface::setGpsData().

◆ vacc

float estimator::gpsSample::vacc

1-std vertical position error (m)

Definition at line 120 of file common.h.

Referenced by Ekf::controlHeightSensorTimeouts(), Ekf::fuseVelPosHeight(), Ekf::initialiseCovariance(), and EstimatorInterface::setGpsData().

◆ vel

Vector3f estimator::gpsSample::vel

NED earth frame gps velocity measurement (m/sec)

Definition at line 117 of file common.h.

Referenced by Ekf::controlGpsFusion(), Ekf::realignYawGPS(), Ekf::resetHeight(), Ekf::resetVelocity(), and EstimatorInterface::setGpsData().

◆ yaw

float estimator::gpsSample::yaw

yaw angle. NaN if not set (used for dual antenna GPS), (rad, [-PI, PI])

Definition at line 118 of file common.h.

Referenced by Ekf::controlGpsFusion(), Ekf::fuseGpsAntYaw(), Ekf::resetGpsAntYaw(), and EstimatorInterface::setGpsData().

The documentation for this struct was generated from the following file: