17 lines
637 B
Markdown
17 lines
637 B
Markdown
# 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. |