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Position / Velocity

Refer to the setup guide to set up a libmav connection to the system
Global position / velocity
Global position is published in the GLOBAL_POSITION_INT message:
while(should_receive_data) {
    auto message = connection->receive("GLOBAL_POSITION_INT", 2000);
    
    // extract data
    double latitude = message["lat"].as<double>() / 1e7;        // degrees
    double longitude = message["lon"].as<double>() / 1e7;       // degrees
    double altitude_msl = message["alt"].as<double>() / 1e3;    // m
    
    double ground_speed_x = message["vx"].as<double>() / 1e2;   // m/s
    double ground_speed_y = message["vy"].as<double>() / 1e2;   // m/s
    double ground_speed_z = message["vz"].as<double>() / 1e2;   // m/s
    
    double heading = message["hdg"].as<double>() / 1e2;         // degrees
}
​
​
Setup (libmav)
Inertial Measurements
Last modified 2mo ago