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| author | Julian Oes <julian@oes.ch> | 2013-12-27 11:07:45 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-12-27 11:07:45 +0100 |
| commit | 32c7aea2a6a0c355d2cae362884e40e4f3573311 (patch) | |
| tree | a6b2579c283704d5c8fc8782ae99e1ad2958836d /src/modules/uORB/topics/home_position.h | |
| parent | 677150388f31c380923c17e947df36b7c62425b1 (diff) | |
| download | px4-firmware-32c7aea2a6a0c355d2cae362884e40e4f3573311.tar.gz px4-firmware-32c7aea2a6a0c355d2cae362884e40e4f3573311.tar.bz2 px4-firmware-32c7aea2a6a0c355d2cae362884e40e4f3573311.zip | |
Home position: use double for lat/lon and float for altitude, set home position to global position instead of GPS position once we have a fix
Diffstat (limited to 'src/modules/uORB/topics/home_position.h')
| -rw-r--r-- | src/modules/uORB/topics/home_position.h | 20 |
1 files changed, 9 insertions, 11 deletions
diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h index 7e1b82a0f..1cf37e29c 100644 --- a/src/modules/uORB/topics/home_position.h +++ b/src/modules/uORB/topics/home_position.h @@ -2,6 +2,7 @@ * * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. * Author: Lorenz Meier <lm@inf.ethz.ch> + * Julian Oes <joes@student.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,9 +35,10 @@ /** * @file home_position.h - * Definition of the GPS home position uORB topic. + * Definition of the home position uORB topic. * * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> */ #ifndef TOPIC_HOME_POSITION_H_ @@ -55,16 +57,12 @@ */ struct home_position_s { - uint64_t timestamp; /**< Timestamp (microseconds since system boot) */ - uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module */ - - int32_t lat; /**< Latitude in 1E7 degrees */ - int32_t lon; /**< Longitude in 1E7 degrees */ - int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */ - 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 */ + uint64_t timestamp; /**< Timestamp (microseconds since system boot) */ + + bool altitude_is_relative; + double lat; /**< Latitude in degrees */ + double lon; /**< Longitude in degrees */ + float altitude; /**< Altitude in meters */ }; /** |