Changed gps position topic mostly to SI units and float, removed counters and added specifig timestamps

9 files changed, 139 insertions, 139 deletions

diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 3a6fecf74..f19f1d0e6 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -1678,8 +1678,8 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
 
 			/* check for first, long-term and valid GPS lock -> set home position */
-			float hdop_m = gps_position.eph / 100.0f;
-			float vdop_m = gps_position.epv / 100.0f;
+			float hdop_m = gps_position.eph_m;
+			float vdop_m = gps_position.epv_m;
 
 			/* check if gps fix is ok */
 			// XXX magic number
@@ -1697,7 +1697,7 @@ int commander_thread_main(int argc, char *argv[])
 			if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < dop_threshold_m)
 				&& (vdop_m < dop_threshold_m)
 				&& !home_position_set
-				&& (hrt_absolute_time() - gps_position.timestamp < 2000000)
+				&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
 				&& !current_status.flag_system_armed) {
 				warnx("setting home position");
 
@@ -1706,11 +1706,11 @@ int commander_thread_main(int argc, char *argv[])
 				home.lon = gps_position.lon;
 				home.alt = gps_position.alt;
 
-				home.eph = gps_position.eph;
-				home.epv = gps_position.epv;
+				home.eph_m = gps_position.eph_m;
+				home.epv_m = gps_position.epv_m;
 
-				home.s_variance = gps_position.s_variance;
-				home.p_variance = gps_position.p_variance;
+				home.s_variance_m_s = gps_position.s_variance_m_s;
+				home.p_variance_m = gps_position.p_variance_m;
 
 				/* announce new home position */
 				if (home_pub > 0) {
diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index 28dc949d4..8c2775adb 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -543,9 +543,9 @@ GPS::print_info()
 			break;
 	}
 	warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_config_needed) ? "NOT OK" : "OK");
-	if (_report.timestamp != 0) {
+	if (_report.timestamp_position != 0) {
 		warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
-			(double)((float)(hrt_absolute_time() - _report.timestamp) / 1000000.0f));
+			(double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f));
 		warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
 		warnx("update rate: %6.2f Hz", (double)_rate);
 	}
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp
index 440ec74c5..eec1df980 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/apps/drivers/gps/ubx.cpp
@@ -37,6 +37,7 @@
 
 #include <unistd.h>
 #include <stdio.h>
+#include <math.h>
 #include <string.h>
 #include <assert.h>
 #include <systemlib/err.h>
@@ -52,7 +53,7 @@ _config_state(UBX_CONFIG_STATE_PRT),
 _waiting_for_ack(false),
 _new_nav_posllh(false),
 _new_nav_timeutc(false),
-_new_nav_dop(false),
+//_new_nav_dop(false),
 _new_nav_sol(false),
 _new_nav_velned(false)
 {
@@ -211,10 +212,10 @@ UBX::configure(uint8_t *buffer, int &length, const unsigned max_length, bool &ba
 					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
 					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
 					break;
-				case UBX_CONFIG_STATE_MSG_NAV_DOP:
-					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
-					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
-					break;
+//				case UBX_CONFIG_STATE_MSG_NAV_DOP:
+//					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
+//					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
+//					break;
 				case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
 					cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
 					cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
@@ -316,10 +317,10 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 						_message_id = NAV_TIMEUTC;
 						break;
 
-					case UBX_MESSAGE_NAV_DOP:
-						_decode_state = UBX_DECODE_GOT_MESSAGEID;
-						_message_id = NAV_DOP;
-						break;
+//					case UBX_MESSAGE_NAV_DOP:
+//						_decode_state = UBX_DECODE_GOT_MESSAGEID;
+//						_message_id = NAV_DOP;
+//						break;
 
 					case UBX_MESSAGE_NAV_SVINFO:
 						_decode_state = UBX_DECODE_GOT_MESSAGEID;
@@ -412,11 +413,11 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 									gps_position->lon = packet->lon;
 									gps_position->alt = packet->height_msl;
 
-									gps_position->counter_pos_valid++;
-									gps_position->counter++;
+									gps_position->eph_m = (float)packet->hAcc * 1e-2f; // from mm to m
+									gps_position->epv_m = (float)packet->vAcc * 1e-2f; // from mm to m
 
 									/* Add timestamp to finish the report */
-									gps_position->timestamp = hrt_absolute_time();
+									gps_position->timestamp_position = hrt_absolute_time();
 
 									_new_nav_posllh = true;
 									/* set flag to trigger publishing of new position */
@@ -439,11 +440,10 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
 
 									gps_position->fix_type = packet->gpsFix;
-									gps_position->s_variance = packet->sAcc;
-									gps_position->p_variance = packet->pAcc;
+									gps_position->s_variance_m_s = packet->sAcc;
+									gps_position->p_variance_m = packet->pAcc;
 
-									gps_position->counter++;
-									gps_position->timestamp = hrt_absolute_time();
+									gps_position->timestamp_variance = hrt_absolute_time();
 
 
 									_new_nav_sol = true;
@@ -457,29 +457,28 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 								break;
 							}
 
-							case NAV_DOP: {
-//								printf("GOT NAV_DOP MESSAGE\n");
-								gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer;
-
-								//Check if checksum is valid and the store the gps information
-								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
-
-									gps_position->eph =  packet->hDOP;
-									gps_position->epv =  packet->vDOP;
-
-									gps_position->counter++;
-									gps_position->timestamp = hrt_absolute_time();
-
-									_new_nav_dop = true;
-
-								} else {
-									warnx("NAV_DOP: checksum invalid");
-								}
-
-								// Reset state machine to decode next packet
-								decodeInit();
-								break;
-							}
+//							case NAV_DOP: {
+////								printf("GOT NAV_DOP MESSAGE\n");
+//								gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer;
+//
+//								//Check if checksum is valid and the store the gps information
+//								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
+//
+//									gps_position->eph_m =  packet->hDOP;
+//									gps_position->epv =  packet->vDOP;
+//
+//									gps_position->timestamp_posdilution = hrt_absolute_time();
+//
+//									_new_nav_dop = true;
+//
+//								} else {
+//									warnx("NAV_DOP: checksum invalid");
+//								}
+//
+//								// Reset state machine to decode next packet
+//								decodeInit();
+//								break;
+//							}
 
 							case NAV_TIMEUTC: {
 //								printf("GOT NAV_TIMEUTC MESSAGE\n");
@@ -501,8 +500,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 									gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
 									gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
 
-									gps_position->counter++;
-									gps_position->timestamp = hrt_absolute_time();
+									gps_position->timestamp_time = hrt_absolute_time();
 
 									_new_nav_timeutc = true;
 
@@ -593,8 +591,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 									}
 
 									gps_position->satellites_visible = satellites_used++; // visible ~= used but we are interested in the used ones
-									gps_position->counter++;
-									gps_position->timestamp = hrt_absolute_time();
+									gps_position->timestamp_satellites = hrt_absolute_time();
 
 									// as this message arrives only with 1Hz and is not essential, we don't take it into account for the report
 
@@ -614,18 +611,17 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 								//Check if checksum is valid and the store the gps information
 								if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
 
-									gps_position->vel = (uint16_t)packet->speed;
-									gps_position->vel_n = packet->velN / 100.0f;
-									gps_position->vel_e = packet->velE / 100.0f;
-									gps_position->vel_d = packet->velD / 100.0f;
+									gps_position->vel_m_s   = (float)packet->speed * 1e-2f;
+									gps_position->vel_n_m_s = (float)packet->velN * 1e-2f;
+									gps_position->vel_e_m_s = (float)packet->velE * 1e-2f;
+									gps_position->vel_d_m_s = (float)packet->velD * 1e-2f;
+									gps_position->cog_rad   = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
 									gps_position->vel_ned_valid = true;
-									gps_position->cog = (uint16_t)((float)(packet->heading) * 1e-3f);
-
-									gps_position->counter++;
-									gps_position->timestamp = hrt_absolute_time();
+									gps_position->timestamp_velocity = hrt_absolute_time();
 
 									_new_nav_velned = true;
 
+
 								} else {
 									warnx("NAV_VELNED: checksum invalid");
 								}
@@ -691,12 +687,12 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 										break;
 									case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
 										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
-											_config_state = UBX_CONFIG_STATE_MSG_NAV_DOP;
-										break;
-									case UBX_CONFIG_STATE_MSG_NAV_DOP:
-										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
 											_config_state = UBX_CONFIG_STATE_MSG_NAV_SVINFO;
 										break;
+//									case UBX_CONFIG_STATE_MSG_NAV_DOP:
+//										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
+//											_config_state = UBX_CONFIG_STATE_MSG_NAV_SVINFO;
+//										break;
 									case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
 										if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
 											_config_state = UBX_CONFIG_STATE_MSG_NAV_SOL;
@@ -766,7 +762,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 	}
 
 	/* return 1 when position updates and the remaining packets updated at least once */
-	if(_new_nav_posllh &&_new_nav_timeutc && _new_nav_dop && _new_nav_sol && _new_nav_velned) {
+	if(_new_nav_posllh &&_new_nav_timeutc /*&& _new_nav_dop*/ && _new_nav_sol && _new_nav_velned) {
 
 		/* we have received everything, this most probably means that the configuration is fine */
 		config_needed = false;
@@ -774,7 +770,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 		/* Reset the flags */
 		_new_nav_posllh = false;
 		_new_nav_timeutc = false;
-		_new_nav_dop = false;
+//		_new_nav_dop = false;
 		_new_nav_sol = false;
 		_new_nav_velned = false;
 
diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h
index d3c6c6d4c..43cded02f 100644
--- a/apps/drivers/gps/ubx.h
+++ b/apps/drivers/gps/ubx.h
@@ -54,7 +54,7 @@
 #define UBX_MESSAGE_NAV_POSLLH 0x02
 #define UBX_MESSAGE_NAV_SOL 0x06
 #define UBX_MESSAGE_NAV_TIMEUTC 0x21
-#define UBX_MESSAGE_NAV_DOP 0x04
+//#define UBX_MESSAGE_NAV_DOP 0x04
 #define UBX_MESSAGE_NAV_SVINFO 0x30
 #define UBX_MESSAGE_NAV_VELNED 0x12
 //#define UBX_MESSAGE_RXM_SVSI 0x20
@@ -140,18 +140,18 @@ typedef struct {
 	uint8_t ck_b;
 } gps_bin_nav_timeutc_packet_t;
 
-typedef struct {
-	uint32_t time_milliseconds; 	/**<  GPS Millisecond Time of Week */
-	uint16_t gDOP; 					/**< Geometric DOP (scaling 0.01) */
-	uint16_t pDOP; 					/**< Position DOP (scaling 0.01) */
-	uint16_t tDOP; 					/**< Time DOP (scaling 0.01) */
-	uint16_t vDOP; 					/**< Vertical DOP (scaling 0.01) */
-	uint16_t hDOP; 					/**< Horizontal DOP (scaling 0.01) */
-	uint16_t nDOP; 					/**< Northing DOP (scaling 0.01) */
-	uint16_t eDOP; 					/**< Easting DOP (scaling 0.01) */
-	uint8_t ck_a;
-	uint8_t ck_b;
-} gps_bin_nav_dop_packet_t;
+//typedef struct {
+//	uint32_t time_milliseconds; 	/**<  GPS Millisecond Time of Week */
+//	uint16_t gDOP; 					/**< Geometric DOP (scaling 0.01) */
+//	uint16_t pDOP; 					/**< Position DOP (scaling 0.01) */
+//	uint16_t tDOP; 					/**< Time DOP (scaling 0.01) */
+//	uint16_t vDOP; 					/**< Vertical DOP (scaling 0.01) */
+//	uint16_t hDOP; 					/**< Horizontal DOP (scaling 0.01) */
+//	uint16_t nDOP; 					/**< Northing DOP (scaling 0.01) */
+//	uint16_t eDOP; 					/**< Easting DOP (scaling 0.01) */
+//	uint8_t ck_a;
+//	uint8_t ck_b;
+//} gps_bin_nav_dop_packet_t;
 
 typedef struct {
 	uint32_t time_milliseconds; 	/**<  GPS Millisecond Time of Week */
@@ -311,7 +311,7 @@ typedef enum {
 	NAV_POSLLH,
 	NAV_SOL,
 	NAV_TIMEUTC,
-	NAV_DOP,
+//	NAV_DOP,
 	NAV_SVINFO,
 	NAV_VELNED,
 //	RXM_SVSI,
@@ -371,7 +371,7 @@ private:
 	unsigned			_payload_size;
 	bool				_new_nav_posllh;
 	bool				_new_nav_timeutc;
-	bool				_new_nav_dop;
+//	bool				_new_nav_dop;
 	bool				_new_nav_sol;
 	bool				_new_nav_velned;
 };
diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp
index 7e89dffb2..b7f651d8a 100644
--- a/apps/examples/kalman_demo/KalmanNav.cpp
+++ b/apps/examples/kalman_demo/KalmanNav.cpp
@@ -190,11 +190,12 @@ void KalmanNav::update()
 	if (!_positionInitialized &&
 	    _attitudeInitialized && // wait for attitude first
 	    gpsUpdate &&
-	    _gps.fix_type > 2 &&
-	    _gps.counter_pos_valid > 10) {
-		vN = _gps.vel_n;
-		vE = _gps.vel_e;
-		vD = _gps.vel_d;
+	    _gps.fix_type > 2
+	    //&& _gps.counter_pos_valid > 10
+	    ) {
+		vN = _gps.vel_n_m_s;
+		vE = _gps.vel_e_m_s;
+		vD = _gps.vel_d_m_s;
 		setLatDegE7(_gps.lat);
 		setLonDegE7(_gps.lon);
 		setAltE3(_gps.alt);
@@ -259,7 +260,7 @@ void KalmanNav::updatePublications()
 
 	// position publication
 	_pos.timestamp = _pubTimeStamp;
-	_pos.time_gps_usec = _gps.timestamp;
+	_pos.time_gps_usec = _gps.timestamp_position;
 	_pos.valid = true;
 	_pos.lat = getLatDegE7();
 	_pos.lon = getLonDegE7();
@@ -631,8 +632,8 @@ int KalmanNav::correctPos()
 
 	// residual
 	Vector y(5);
-	y(0) = _gps.vel_n - vN;
-	y(1) = _gps.vel_e - vE;
+	y(0) = _gps.vel_n_m_s - vN;
+	y(1) = _gps.vel_e_m_s - vE;
 	y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG;
 	y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG;
 	y(4) = double(_gps.alt) / 1.0e3 - alt;
@@ -651,9 +652,9 @@ int KalmanNav::correctPos()
 			// abort correction and return
 			printf("[kalman_demo] numerical failure in gps correction\n");
 			// fallback to GPS
-			vN = _gps.vel_n;
-			vE = _gps.vel_e;
-			vD = _gps.vel_d;
+			vN = _gps.vel_n_m_s;
+			vE = _gps.vel_e_m_s;
+			vD = _gps.vel_d_m_s;
 			setLatDegE7(_gps.lat);
 			setLonDegE7(_gps.lon);
 			setAltE3(_gps.alt);
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c
index 86732d07c..b3b4b1e0b 100644
--- a/apps/mavlink/mavlink_receiver.c
+++ b/apps/mavlink/mavlink_receiver.c
@@ -387,22 +387,22 @@ handle_message(mavlink_message_t *msg)
 			static uint64_t old_timestamp = 0;
 
 			/* gps */
-			hil_gps.timestamp = gps.time_usec;
-			hil_gps.counter = hil_counter++;
+			hil_gps.timestamp_position = gps.time_usec;
+//			hil_gps.counter = hil_counter++;
 			hil_gps.time_gps_usec = gps.time_usec;
 			hil_gps.lat = gps.lat;
 			hil_gps.lon = gps.lon;
 			hil_gps.alt = gps.alt;
-			hil_gps.counter_pos_valid = hil_counter++;
-			hil_gps.eph = gps.eph;
-			hil_gps.epv = gps.epv;
-			hil_gps.s_variance = 100;
-			hil_gps.p_variance = 100;
-			hil_gps.vel = gps.vel;
-			hil_gps.vel_n = gps.vel / 100.0f * cosf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
-			hil_gps.vel_e = gps.vel / 100.0f * sinf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
-			hil_gps.vel_d = 0.0f;
-			hil_gps.cog = gps.cog;
+//			hil_gps.counter_pos_valid = hil_counter++;
+			hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
+			hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
+			hil_gps.s_variance_m_s = 100; // XXX 100 m/s variance?
+			hil_gps.p_variance_m = 100; // XXX 100 m variance?
+			hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
+			hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
+			hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
+			hil_gps.vel_d_m_s = 0.0f;
+			hil_gps.cog_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; // from deg*100 to rad
 			hil_gps.fix_type = gps.fix_type;
 			hil_gps.satellites_visible = gps.satellites_visible;
 
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index 18da70f61..9f85d5801 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -231,15 +231,15 @@ l_vehicle_gps_position(struct listener *l)
 
 	/* GPS position */
 	mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
-				     gps.timestamp,
+				     gps.timestamp_position,
 				     gps.fix_type,
 				     gps.lat,
 				     gps.lon,
 				     gps.alt,
-				     gps.eph,
-				     gps.epv,
-				     gps.vel,
-				     gps.cog,
+				     (uint16_t)(gps.eph_m * 1e2f), // from m to cm
+				     (uint16_t)(gps.epv_m * 1e2f), // from m to cm
+				     (uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s
+				     (uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100
 				     gps.satellites_visible);
 
 	if (gps.satellite_info_available && (gps_counter % 4 == 0)) {
diff --git a/apps/uORB/topics/home_position.h b/apps/uORB/topics/home_position.h
index dec34b6ab..7e1b82a0f 100644
--- a/apps/uORB/topics/home_position.h
+++ b/apps/uORB/topics/home_position.h
@@ -61,10 +61,10 @@ struct home_position_s
 	int32_t lat;                    /**< Latitude in 1E7 degrees */
 	int32_t lon;                    /**< Longitude in 1E7 degrees */
 	int32_t alt;                    /**< Altitude in 1E3 meters (millimeters) above MSL */
-	uint16_t eph;                   /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
-	uint16_t epv;                   /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
-	float s_variance;               /**< speed accuracy estimate cm/s */
-	float p_variance;               /**< position accuracy estimate cm */
+	float eph_m;                   /**< GPS HDOP horizontal dilution of position in m */
+	float epv_m;                   /**< GPS VDOP horizontal dilution of position in m */
+	float s_variance_m_s;               /**< speed accuracy estimate m/s */
+	float p_variance_m;               /**< position accuracy estimate m */
 };
 
 /**
diff --git a/apps/uORB/topics/vehicle_gps_position.h b/apps/uORB/topics/vehicle_gps_position.h
index db529da06..aa75c22ac 100644
--- a/apps/uORB/topics/vehicle_gps_position.h
+++ b/apps/uORB/topics/vehicle_gps_position.h
@@ -55,35 +55,38 @@
  */
 struct vehicle_gps_position_s
 {
-	uint64_t timestamp;			/**< Timestamp (microseconds since system boot)   */
-	uint32_t counter;			/**< Count of GPS messages */
-	uint64_t time_gps_usec;			/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
+	uint64_t timestamp_position;		/**< Timestamp for position information */
+	int32_t lat;						/**< Latitude in 1E7 degrees */
+	int32_t lon;						/**< Longitude in 1E7 degrees */
+	int32_t alt;						/**< Altitude in 1E3 meters (millimeters) above MSL  */
 	
-	int32_t lat;				/**< Latitude in 1E7 degrees //LOGME   */
-	int32_t lon;				/**< Longitude in 1E7 degrees //LOGME   */
-	int32_t alt;				/**< Altitude in 1E3 meters (millimeters) above MSL //LOGME   */
-	uint16_t counter_pos_valid;		/**< is only increased when new lat/lon/alt information was added   */
-	uint16_t eph;				/**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME   */
-	uint16_t epv;				/**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535   */
-	float s_variance;			/**< speed accuracy estimate cm/s */
-	float p_variance;			/**< position accuracy estimate cm */
-	uint16_t vel;				/**< GPS ground speed (m/s * 100). If unknown, set to: 65535   */
-	float vel_n;				/**< GPS ground speed in m/s */
-	float vel_e;				/**< GPS ground speed in m/s */
-	float vel_d;				/**< GPS ground speed in m/s */
-	uint16_t cog;				/**< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535   */
-	uint8_t fix_type; 			/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
-	uint8_t satellites_visible;		/**< Number of satellites visible. If unknown, set to 255   */
+	uint64_t timestamp_variance;
+	float s_variance_m_s;				/**< speed accuracy estimate m/s */
+	float p_variance_m;					/**< position accuracy estimate m */
+	uint8_t fix_type; 					/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
 
-	uint8_t satellite_prn[20]; 		/**< Global satellite ID   */
-	uint8_t satellite_used[20];		/**< 0: Satellite not used, 1: used for localization   */
-	uint8_t satellite_elevation[20]; 	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite   */
-	uint8_t satellite_azimuth[20];		/**< Direction of satellite, 0: 0 deg, 255: 360 deg.   */
-	uint8_t satellite_snr[20];		/**< Signal to noise ratio of satellite   */
-	uint8_t satellite_info_available;	/**< 0 for no info, 1 for info available   */
+	float eph_m;						/**< GPS HDOP horizontal dilution of position in m */
+	float epv_m;						/**< GPS VDOP horizontal dilution of position in m */
 
-	/* flags */
-	float vel_ned_valid;			/**< Flag to indicate if NED speed is valid */
+	uint64_t timestamp_velocity;		/**< Timestamp for velocity informations */
+	float vel_m_s;						/**< GPS ground speed (m/s) */
+	float vel_n_m_s;					/**< GPS ground speed in m/s */
+	float vel_e_m_s;					/**< GPS ground speed in m/s */
+	float vel_d_m_s;					/**< GPS ground speed in m/s */
+	float cog_rad;						/**< Course over ground (NOT heading, but direction of movement) in rad */
+	bool vel_ned_valid;					/**< Flag to indicate if NED speed is valid */
+
+	uint64_t timestamp_time;			/**< Timestamp for time information */
+	uint64_t time_gps_usec;				/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
+
+	uint64_t timestamp_satellites;		/**< Timestamp for sattelite information */
+	uint8_t satellites_visible;			/**< Number of satellites visible. If unknown, set to 255 */
+	uint8_t satellite_prn[20]; 			/**< Global satellite ID */
+	uint8_t satellite_used[20];			/**< 0: Satellite not used, 1: used for localization */
+	uint8_t satellite_elevation[20]; 	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
+	uint8_t satellite_azimuth[20];		/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
+	uint8_t satellite_snr[20];			/**< Signal to noise ratio of satellite   */
+	uint8_t satellite_info_available;	/**< 0 for no info, 1 for info available */
 };
 
 /**