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

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.							   */
 };
 
 /**