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authorJulian Oes <julian@oes.ch>2014-04-26 23:08:11 +0200
committerJulian Oes <julian@oes.ch>2014-04-26 23:08:11 +0200
commite8531e8360e4f061f3cd69db90365f64837a7c76 (patch)
treefda98a4bf7bd67f339757f921a01976b45e37236 /src/modules/uORB/topics/vehicle_global_position.h
parent3a12cb46487980dbf85f4606e316d9643a2b3b23 (diff)
parent13dfe0447ccfa4f75b551d02b5c979a6ade4c81a (diff)
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Merge remote-tracking branch 'px4/ekf_home_init' into navigator_cleanup_ekf_home_init
Conflicts: src/modules/commander/commander.cpp src/modules/mc_pos_control/mc_pos_control_main.cpp src/modules/navigator/navigator_main.cpp src/modules/uORB/topics/vehicle_global_position.h
Diffstat (limited to 'src/modules/uORB/topics/vehicle_global_position.h')
-rw-r--r--src/modules/uORB/topics/vehicle_global_position.h12
1 files changed, 4 insertions, 8 deletions
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index cfab695f8..e32529cb4 100644
--- a/src/modules/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -61,12 +61,8 @@
* e.g. control inputs of the vehicle in a Kalman-filter implementation.
*/
struct vehicle_global_position_s {
- uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
-
- bool global_valid; /**< true if position satisfies validity criteria of estimator */
- bool baro_valid; /**< true if baro_alt is valid (vel_d is also valid in this case) */
-
- uint64_t time_gps_usec; /**< GPS timestamp in microseconds */
+ uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
+ uint64_t time_gps_usec; /**< GPS timestamp in microseconds */
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
float alt; /**< Altitude AMSL in meters */
@@ -74,8 +70,8 @@ struct vehicle_global_position_s {
float vel_e; /**< Ground east velocity, m/s */
float vel_d; /**< Ground downside velocity, m/s */
float yaw; /**< Yaw in radians -PI..+PI. */
-
- float baro_alt; /**< Barometric altitude (not raw baro but fused with accelerometer) */
+ float eph;
+ float epv;
};
/**