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author | TickTock- <lukecell@safe-mail.net> | 2014-04-25 20:30:01 -0700 |
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committer | TickTock- <lukecell@safe-mail.net> | 2014-04-25 20:30:01 -0700 |
commit | 31b5d0f5c8679c98d78f5f58ffc9d6a251b67375 (patch) | |
tree | 3cbc13ba645f2bf73ee69f008241b704d4eec108 /src/modules/uORB | |
parent | 971e8fc4ffc6fc50ffaf257c473dfa86f5dc2d11 (diff) | |
parent | 88149311ea687b62ba28e036e7de09ed2763f2bc (diff) | |
download | px4-firmware-31b5d0f5c8679c98d78f5f58ffc9d6a251b67375.tar.gz px4-firmware-31b5d0f5c8679c98d78f5f58ffc9d6a251b67375.tar.bz2 px4-firmware-31b5d0f5c8679c98d78f5f58ffc9d6a251b67375.zip |
Merge branch 'mpc_rc' of https://github.com/TickTock-/Firmware into rc_merged
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/topics/optical_flow.h | 1 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 7 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_local_position.h | 8 |
3 files changed, 8 insertions, 8 deletions
diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h index 98f0e3fa2..0196ae86b 100644 --- a/src/modules/uORB/topics/optical_flow.h +++ b/src/modules/uORB/topics/optical_flow.h @@ -57,6 +57,7 @@ struct optical_flow_s { uint64_t timestamp; /**< in microseconds since system start */ + uint64_t flow_timestamp; /**< timestamp from flow sensor */ int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */ diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index adcd028f0..4897ca737 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -63,9 +63,6 @@ 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; }; /** diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index db9637cd9..a15303ea4 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -1,7 +1,6 @@ /**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,6 +34,9 @@ /** * @file vehicle_local_position.h * Definition of the local fused NED position uORB topic. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> */ #ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_ @@ -72,8 +74,8 @@ struct vehicle_local_position_s { bool xy_global; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */ bool z_global; /**< true if z is valid and has valid global reference (ref_alt) */ uint64_t ref_timestamp; /**< Time when reference position was set */ - int32_t ref_lat; /**< Reference point latitude in 1E7 degrees */ - int32_t ref_lon; /**< Reference point longitude in 1E7 degrees */ + double ref_lat; /**< Reference point latitude in degrees */ + double ref_lon; /**< Reference point longitude in 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 */ |