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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-16 12:12:43 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-16 12:12:43 +0200 |
| commit | 8c4b35cc23ddf1eaef0dfc90f8fbb066b5b845af (patch) | |
| tree | ea6f3edcfa749eb5b0dcc7f307b0fa490d579617 /src/modules/uORB/topics/vehicle_global_position.h | |
| parent | d2553bfd2930eb02664d564559fa361b80c63f61 (diff) | |
| parent | f892a7278a4f452c12678fe00c6ff28c2354d548 (diff) | |
| download | px4-firmware-8c4b35cc23ddf1eaef0dfc90f8fbb066b5b845af.tar.gz px4-firmware-8c4b35cc23ddf1eaef0dfc90f8fbb066b5b845af.tar.bz2 px4-firmware-8c4b35cc23ddf1eaef0dfc90f8fbb066b5b845af.zip | |
Merge branch 'master' into offboard2
Diffstat (limited to 'src/modules/uORB/topics/vehicle_global_position.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 19 |
1 files changed, 8 insertions, 11 deletions
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index ff9e98e1c..4897ca737 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * 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> + * Copyright (c) 2012-2014 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 @@ -37,6 +34,10 @@ /** * @file vehicle_global_position.h * Definition of the global fused WGS84 position uORB topic. + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> */ #ifndef VEHICLE_GLOBAL_POSITION_T_H_ @@ -59,13 +60,9 @@ * estimator, which will take more sources of information into account than just GPS, * e.g. control inputs of the vehicle in a Kalman-filter implementation. */ -struct vehicle_global_position_s -{ +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 */ double lat; /**< Latitude in degrees */ double lon; /**< Longitude in degrees */ @@ -74,8 +71,8 @@ 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; }; /** |