User`s manual

AscTec Hummingbird with AutoPilot User’s Manual
//pseudo speed measurements: integrated accelerations, pulled towards zero; 
→
units unknown; used for short-term position stabilization
int speed_x;
int speed_y;
int speed_z;
//height in mm (after data fusion)
int height;
//diff. height in mm/s (after data fusion)
int dheight;
//diff. height measured by the pressure sensor [mm/s]
int dheight_reference;
//height measured by the pressure sensor [mm]
int height_reference;
};
struct GPS_DATA
{
//latitude/longitude in deg
*
10ˆ7
int latitude;
int longitude;
//GPS height in mm
int height;
//speed in x (E/W) and y(N/S) in mm/s
int speed_x;
int speed_y;
//GPS heading in deg
*
1000
int heading;
//accuracy estimates in mm and mm/s
unsigned int horizontal_accuracy;
unsigned int vertical_accuracy;
unsigned int speed_accuracy;
//number of satellite vehicles used in NAV solution
unsigned int numSV;
// GPS status information; 0x03 = valid GPS fix
int status;
};
struct GPS_DATA_ADVANCED
{
//latitude/longitude in deg
*
10ˆ7
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