Clarify global frames (mavlink#1012)

islemhm · Dec 14, 2018 · b671d3c · b671d3c
1 parent 2b9d470
commit b671d3c
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
@@ -587,7 +587,7 @@
     </enum>
     <enum name="MAV_FRAME">
       <entry value="0" name="MAV_FRAME_GLOBAL">
-        <description>Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL).</description>
+        <description>Global (WGS84) coordinate frame + MSL altitude. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL).</description>
       </entry>
       <entry value="1" name="MAV_FRAME_LOCAL_NED">
         <description>Local coordinate frame, Z-down (x: north, y: east, z: down).</description>
@@ -596,16 +596,16 @@
         <description>NOT a coordinate frame, indicates a mission command.</description>
       </entry>
       <entry value="3" name="MAV_FRAME_GLOBAL_RELATIVE_ALT">
-        <description>Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location.</description>
+        <description>Global (WGS84) coordinate frame + altitude relative to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location.</description>
       </entry>
       <entry value="4" name="MAV_FRAME_LOCAL_ENU">
         <description>Local coordinate frame, Z-up (x: east, y: north, z: up).</description>
       </entry>
       <entry value="5" name="MAV_FRAME_GLOBAL_INT">
-        <description>Global coordinate frame, WGS84 coordinate system. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL).</description>
+        <description>Global (WGS84) coordinate frame (scaled) + MSL altitude. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL).</description>
       </entry>
       <entry value="6" name="MAV_FRAME_GLOBAL_RELATIVE_ALT_INT">
-        <description>Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location.</description>
+        <description>Global (WGS84) coordinate frame (scaled) + altitude relative to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location.</description>
       </entry>
       <entry value="7" name="MAV_FRAME_LOCAL_OFFSET_NED">
         <description>Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position.</description>
@@ -620,7 +620,7 @@
         <description>Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model.</description>
       </entry>
       <entry value="11" name="MAV_FRAME_GLOBAL_TERRAIN_ALT_INT">
-        <description>Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model.</description>
+        <description>Global (WGS84) coordinate frame (scaled) with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model.</description>
       </entry>
       <entry value="12" name="MAV_FRAME_BODY_FRD">
         <description>Body fixed frame of reference, Z-down (x: forward, y: right, z: down).</description>