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compass_msgs

Messages for use with a compass.

Azimuth

Azimuth message carries information about an azimuth. As there are multiple possibilities related to the azimuth meaning, it has 3 metadata fields that exactly specify the meaning of each message:

  • unit:
    • UNIT_DEG: azimuth field is in degrees and variance in degrees^2
    • UNIT_RAD: azimuth field is in radians and variance in rad^2
  • orientation
    • ORIENTATION_ENU: The azimuth is measured in East-North-Up frame. Azimuth 0 thus points to the East and increases counter-clockwise.
    • ORIENTATION_NED: The azimuth is measured in North-East-Down frame. Azimuth 0 thus points to the North and increases clockwise.
  • reference: Which North reference is used.
    • REFERENCE_MAGNETIC: Magnetic North.
    • REFERENCE_GEOGRAPHIC: Geographic North.
    • REFERENCE_UTM: UTM grid North.