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mavsdk::Telemetry::HomePosition Struct Reference ​

#include: telemetry.hpp

Home position type.

Includes the global GPS position, local NED position, surface quaternion, and approach vector from the MAVLink HOME_POSITION message.

Data Fields ​

uint64_t timestamp_us {} - Timestamp (UNIX Epoch or since system boot) in microseconds.

double latitude_deg {double(NAN)} - Latitude in degrees (range: -90 to +90)

double longitude_deg {double(NAN)} - Longitude in degrees (range: -180 to +180)

float absolute_altitude_m {float(NAN)} - Altitude AMSL (above mean sea level) in metres.

float relative_altitude_m {float(NAN)} - Altitude relative to takeoff altitude in metres.

float local_north_m {float(NAN)} - Local North position in NED frame (m)

float local_east_m {float(NAN)} - Local East position in NED frame (m)

float local_down_m {float(NAN)} - Local Down position in NED frame (m, positive down)

Quaternion q {} - Surface quaternion (world-to-surface-normal and heading)

float approach_north_m {float(NAN)} - Local North position of the approach vector end in NED frame (m)

float approach_east_m {float(NAN)} - Local East position of the approach vector end in NED frame (m)

float approach_down_m {float(NAN)} - Local Down position of the approach vector end in NED frame (m)

Field Documentation ​

timestamp_us ​

cpp
uint64_t mavsdk::Telemetry::HomePosition::timestamp_us {}

Timestamp (UNIX Epoch or since system boot) in microseconds.

latitude_deg ​

cpp
double mavsdk::Telemetry::HomePosition::latitude_deg {double(NAN)}

Latitude in degrees (range: -90 to +90)

longitude_deg ​

cpp
double mavsdk::Telemetry::HomePosition::longitude_deg {double(NAN)}

Longitude in degrees (range: -180 to +180)

absolute_altitude_m ​

cpp
float mavsdk::Telemetry::HomePosition::absolute_altitude_m {float(NAN)}

Altitude AMSL (above mean sea level) in metres.

relative_altitude_m ​

cpp
float mavsdk::Telemetry::HomePosition::relative_altitude_m {float(NAN)}

Altitude relative to takeoff altitude in metres.

local_north_m ​

cpp
float mavsdk::Telemetry::HomePosition::local_north_m {float(NAN)}

Local North position in NED frame (m)

local_east_m ​

cpp
float mavsdk::Telemetry::HomePosition::local_east_m {float(NAN)}

Local East position in NED frame (m)

local_down_m ​

cpp
float mavsdk::Telemetry::HomePosition::local_down_m {float(NAN)}

Local Down position in NED frame (m, positive down)

q ​

cpp
Quaternion mavsdk::Telemetry::HomePosition::q {}

Surface quaternion (world-to-surface-normal and heading)

approach_north_m ​

cpp
float mavsdk::Telemetry::HomePosition::approach_north_m {float(NAN)}

Local North position of the approach vector end in NED frame (m)

approach_east_m ​

cpp
float mavsdk::Telemetry::HomePosition::approach_east_m {float(NAN)}

Local East position of the approach vector end in NED frame (m)

approach_down_m ​

cpp
float mavsdk::Telemetry::HomePosition::approach_down_m {float(NAN)}

Local Down position of the approach vector end in NED frame (m)