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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-10-10 19:10:45 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-10-10 19:10:45 +0200 |
| commit | 86c53bee43ab7cb7cb18e9270af0c729440d14ed (patch) | |
| tree | 447bc83dab2779d626df8f1c7124fea5d1949d16 /src/modules/uORB/topics/vehicle_local_position.h | |
| parent | aedb97f38ed137b4a45152df154819745f998e2f (diff) | |
| download | px4-firmware-86c53bee43ab7cb7cb18e9270af0c729440d14ed.tar.gz px4-firmware-86c53bee43ab7cb7cb18e9270af0c729440d14ed.tar.bz2 px4-firmware-86c53bee43ab7cb7cb18e9270af0c729440d14ed.zip | |
position_estimator_inav: use independent estimate for distance to ground (sonar), WIP
Diffstat (limited to 'src/modules/uORB/topics/vehicle_local_position.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_local_position.h | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index 427153782..807fc6c09 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -77,6 +77,11 @@ struct vehicle_local_position_s int32_t ref_lon; /**< Reference point longitude in 1E7 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 v_dist_bottom; /**< 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 */ }; /** |