README

compass_interfaces

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.

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