# 150 auv 软件结构


# 150 auv 适配接口

## 发布变量

根据pNodeReporter模块订阅的变量，需要发布的变量如下

NAV_X: The ownship vehicle position on the x axis of local coordinates.
NAV_Y: The ownship vehicle position on the y axis of local coordinates.
NAV_LAT: The ownship vehicle position on the y axis of global coordinates.
NAV_LONG: The ownship vehicle position on the x axis of global coordinates.
NAV_HEADING: The ownship vehicle heading in degrees.
NAV_YAW: The ownship vehicle yaw in radians.
NAV_SPEED: The ownship vehicle speed in meters per second.
NAV_DEPTH: The ownship vehicle depth in meters.