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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-24 00:06:10 +0100 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-24 00:06:10 +0100 |
commit | 58792c5ca6e42bc251dd3c92b0e79217ff5d5403 (patch) | |
tree | ea46289f1159857c26ea40f71674a3bbb06cec8e /src/modules/uORB/topics | |
parent | b3d98e4a19662af44432a0436a1b5de7fb9649c9 (diff) | |
download | px4-firmware-58792c5ca6e42bc251dd3c92b0e79217ff5d5403.tar.gz px4-firmware-58792c5ca6e42bc251dd3c92b0e79217ff5d5403.tar.bz2 px4-firmware-58792c5ca6e42bc251dd3c92b0e79217ff5d5403.zip |
Use double for lat/lon in vehicle_global_position topic, use filed names lat, lon, alt, vel_n, vel_e, vel_d for global positions
Diffstat (limited to 'src/modules/uORB/topics')
-rw-r--r-- | src/modules/uORB/topics/home_position.h | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 17 |
2 files changed, 9 insertions, 10 deletions
diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h index 3e2fee84e..08d11abae 100644 --- a/src/modules/uORB/topics/home_position.h +++ b/src/modules/uORB/topics/home_position.h @@ -62,7 +62,7 @@ struct home_position_s //bool altitude_is_relative; // TODO what means home relative altitude? we need clear definition of reference altitude then double lat; /**< Latitude in degrees */ double lon; /**< Longitude in degrees */ - float altitude; /**< Altitude in meters */ + float alt; /**< Altitude in meters */ }; /** diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index 143734e37..ae771ca00 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -54,7 +54,7 @@ /** * Fused global position in WGS84. * - * This struct contains the system's believ about its position. It is not the raw GPS + * This struct contains global position estimation. It is not the raw GPS * measurement (@see vehicle_gps_position). This topic is usually published by the position * 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. @@ -65,14 +65,13 @@ struct vehicle_global_position_s uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ bool valid; /**< true if position satisfies validity criteria of estimator */ - int32_t lat; /**< Latitude in 1E7 degrees */ - int32_t lon; /**< Longitude in 1E7 degrees */ - float alt; /**< Altitude in meters */ - float relative_alt; /**< Altitude above home position in meters, */ - float vx; /**< Ground X velocity, m/s in NED */ - float vy; /**< Ground Y velocity, m/s in NED */ - float vz; /**< Ground Z velocity, m/s in NED */ - float yaw; /**< Compass heading in radians -PI..+PI. */ + double lat; /**< Latitude in degrees */ + double lon; /**< Longitude in degrees */ + float alt; /**< Altitude in meters */ + float vel_n; /**< Ground north velocity, m/s */ + float vel_e; /**< Ground east velocity, m/s */ + float vel_d; /**< Ground downside velocity, m/s */ + float yaw; /**< Yaw in radians -PI..+PI. */ }; /** |