github.com/bluenviron/gomavlib/v2@v2.2.1-0.20240308101627-2c07e3da629c/pkg/dialects/ardupilotmega/enum_mav_frame.go (about)

     1  //autogenerated:yes
     2  //nolint:revive,misspell,govet,lll,dupl,gocritic
     3  package ardupilotmega
     4  
     5  import (
     6  	"github.com/bluenviron/gomavlib/v2/pkg/dialects/common"
     7  )
     8  
     9  // Coordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles.
    10  // Global frames use the following naming conventions:
    11  // - "GLOBAL": Global coordinate frame with WGS84 latitude/longitude and altitude positive over mean sea level (MSL) by default.
    12  // The following modifiers may be used with "GLOBAL":
    13  // - "RELATIVE_ALT": Altitude is relative to the vehicle home position rather than MSL.
    14  // - "TERRAIN_ALT": Altitude is relative to ground level rather than MSL.
    15  // - "INT": Latitude/longitude (in degrees) are scaled by multiplying by 1E7.
    16  // Local frames use the following naming conventions:
    17  // - "LOCAL": Origin of local frame is fixed relative to earth. Unless otherwise specified this origin is the origin of the vehicle position-estimator ("EKF").
    18  // - "BODY": Origin of local frame travels with the vehicle. NOTE, "BODY" does NOT indicate alignment of frame axis with vehicle attitude.
    19  // - "OFFSET": Deprecated synonym for "BODY" (origin travels with the vehicle). Not to be used for new frames.
    20  // Some deprecated frames do not follow these conventions (e.g. MAV_FRAME_BODY_NED and MAV_FRAME_BODY_OFFSET_NED).
    21  type MAV_FRAME = common.MAV_FRAME
    22  
    23  const (
    24  	// Global (WGS84) coordinate frame + MSL altitude. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL).
    25  	MAV_FRAME_GLOBAL MAV_FRAME = common.MAV_FRAME_GLOBAL
    26  	// NED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
    27  	MAV_FRAME_LOCAL_NED MAV_FRAME = common.MAV_FRAME_LOCAL_NED
    28  	// NOT a coordinate frame, indicates a mission command.
    29  	MAV_FRAME_MISSION MAV_FRAME = common.MAV_FRAME_MISSION
    30  	// Global (WGS84) coordinate frame + altitude relative to the home position.
    31  	// First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home position.
    32  	MAV_FRAME_GLOBAL_RELATIVE_ALT MAV_FRAME = common.MAV_FRAME_GLOBAL_RELATIVE_ALT
    33  	// ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
    34  	MAV_FRAME_LOCAL_ENU MAV_FRAME = common.MAV_FRAME_LOCAL_ENU
    35  	// Global (WGS84) coordinate frame (scaled) + MSL altitude. First value / x: latitude in degrees*1E7, second value / y: longitude in degrees*1E7, third value / z: positive altitude over mean sea level (MSL).
    36  	MAV_FRAME_GLOBAL_INT MAV_FRAME = common.MAV_FRAME_GLOBAL_INT
    37  	// Global (WGS84) coordinate frame (scaled) + altitude relative to the home position.
    38  	// First value / x: latitude in degrees*1E7, second value / y: longitude in degrees*1E7, third value / z: positive altitude with 0 being at the altitude of the home position.
    39  	MAV_FRAME_GLOBAL_RELATIVE_ALT_INT MAV_FRAME = common.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
    40  	// NED local tangent frame (x: North, y: East, z: Down) with origin that travels with the vehicle.
    41  	MAV_FRAME_LOCAL_OFFSET_NED MAV_FRAME = common.MAV_FRAME_LOCAL_OFFSET_NED
    42  	// Same as MAV_FRAME_LOCAL_NED when used to represent position values. Same as MAV_FRAME_BODY_FRD when used with velocity/acceleration values.
    43  	MAV_FRAME_BODY_NED MAV_FRAME = common.MAV_FRAME_BODY_NED
    44  	// This is the same as MAV_FRAME_BODY_FRD.
    45  	MAV_FRAME_BODY_OFFSET_NED MAV_FRAME = common.MAV_FRAME_BODY_OFFSET_NED
    46  	// Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model.
    47  	MAV_FRAME_GLOBAL_TERRAIN_ALT MAV_FRAME = common.MAV_FRAME_GLOBAL_TERRAIN_ALT
    48  	// Global (WGS84) coordinate frame (scaled) with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees*1E7, second value / y: longitude in degrees*1E7, third value / z: positive altitude in meters with 0 being at ground level in terrain model.
    49  	MAV_FRAME_GLOBAL_TERRAIN_ALT_INT MAV_FRAME = common.MAV_FRAME_GLOBAL_TERRAIN_ALT_INT
    50  	// FRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
    51  	MAV_FRAME_BODY_FRD MAV_FRAME = common.MAV_FRAME_BODY_FRD
    52  	// MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).
    53  	MAV_FRAME_RESERVED_13 MAV_FRAME = common.MAV_FRAME_RESERVED_13
    54  	// MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).
    55  	MAV_FRAME_RESERVED_14 MAV_FRAME = common.MAV_FRAME_RESERVED_14
    56  	// MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).
    57  	MAV_FRAME_RESERVED_15 MAV_FRAME = common.MAV_FRAME_RESERVED_15
    58  	// MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).
    59  	MAV_FRAME_RESERVED_16 MAV_FRAME = common.MAV_FRAME_RESERVED_16
    60  	// MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).
    61  	MAV_FRAME_RESERVED_17 MAV_FRAME = common.MAV_FRAME_RESERVED_17
    62  	// MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).
    63  	MAV_FRAME_RESERVED_18 MAV_FRAME = common.MAV_FRAME_RESERVED_18
    64  	// MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).
    65  	MAV_FRAME_RESERVED_19 MAV_FRAME = common.MAV_FRAME_RESERVED_19
    66  	// FRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
    67  	MAV_FRAME_LOCAL_FRD MAV_FRAME = common.MAV_FRAME_LOCAL_FRD
    68  	// FLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
    69  	MAV_FRAME_LOCAL_FLU MAV_FRAME = common.MAV_FRAME_LOCAL_FLU
    70  )