FLIR Duo Pro R, User Manual

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FLI R Duo P ro R Us e r Guide
Duo Pro R User Guide, Rev. 1.0
Information on this page is subject to change without notice
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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