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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* 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_local_position.h
* Definition of the local fused NED position uORB topic.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
#define TOPIC_VEHICLE_LOCAL_POSITION_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Fused local position in NED.
*/
struct vehicle_local_position_s {
uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
bool xy_valid; /**< true if x and y are valid */
bool z_valid; /**< true if z is valid */
bool v_xy_valid; /**< true if vy and vy are valid */
bool v_z_valid; /**< true if vz is valid */
/* Position in local NED frame */
float x; /**< X position in meters in NED earth-fixed frame */
float y; /**< X position in meters in NED earth-fixed frame */
float z; /**< Z position in meters in NED earth-fixed frame (negative altitude) */
/* Velocity in NED frame */
float vx; /**< Ground X Speed (Latitude), m/s in NED */
float vy; /**< Ground Y Speed (Longitude), m/s in NED */
float vz; /**< Ground Z Speed (Altitude), m/s in NED */
/* Heading */
float yaw;
/* Reference position in GPS / WGS84 frame */
bool xy_global; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
bool z_global; /**< true if z is valid and has valid global reference (ref_alt) */
uint64_t ref_timestamp; /**< Time when reference position was set */
double ref_lat; /**< Reference point latitude in degrees */
double ref_lon; /**< Reference point longitude in degrees */
float ref_alt; /**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */
bool landed; /**< true if vehicle is landed */
/* Distance to surface */
float dist_bottom; /**< Distance to bottom surface (ground) */
float dist_bottom_rate; /**< Distance to bottom surface (ground) change rate */
uint64_t surface_bottom_timestamp; /**< Time when new bottom surface found */
bool dist_bottom_valid; /**< true if distance to bottom surface is valid */
float eph;
float epv;
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_local_position);
#endif
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