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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vehicle_global_position_setpoint.h
* Definition of the global WGS84 position setpoint uORB topic.
*/
#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
#define TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
#include "mission.h"
/**
* @addtogroup topics
* @{
*/
/**
* Global position setpoint in WGS84 coordinates.
*
* This is the position the MAV is heading towards. If it of type loiter,
* the MAV is circling around it with the given loiter radius in meters.
*/
struct vehicle_global_position_setpoint_s
{
bool altitude_is_relative; /**< true if altitude is relative from start point */
int32_t lat; /**< latitude in degrees * 1E7 */
int32_t lon; /**< longitude in degrees * 1E7 */
float altitude; /**< altitude in meters */
float yaw; /**< in radians NED -PI..+PI */
float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */
int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
enum NAV_CMD nav_cmd; /**< true if loitering is enabled */
float param1;
float param2;
float param3;
float param4;
float turn_distance_xy; /**< The distance on the plane which will mark this as reached */
float turn_distance_z; /**< The distance in Z direction which will mark this as reached */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_global_position_setpoint);
#endif
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