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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-28 20:40:05 +0100 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-28 20:40:05 +0100 |
commit | 6a1a29f77ecc9ded341bfbca037c9a6768ed3fb4 (patch) | |
tree | 0a011a39651787dd6df2ad105bf619f09e2e3ac6 /src/modules/uORB | |
parent | 48f1b7e1c77a66973c6bb847290018531a99503c (diff) | |
download | px4-firmware-6a1a29f77ecc9ded341bfbca037c9a6768ed3fb4.tar.gz px4-firmware-6a1a29f77ecc9ded341bfbca037c9a6768ed3fb4.tar.bz2 px4-firmware-6a1a29f77ecc9ded341bfbca037c9a6768ed3fb4.zip |
global_position topic: added baro_alt, mc_pos_control: SEATBELT mode fixed, use baro/AMSL alt
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index ae771ca00..ff9e98e1c 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -61,17 +61,21 @@ */ struct vehicle_global_position_s { - uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ - uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ - bool valid; /**< true if position satisfies validity criteria of estimator */ + 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 */ - float alt; /**< Altitude in meters */ + float alt; /**< Altitude AMSL 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. */ + + float baro_alt; /**< Barometric altitude (not raw baro but fused with accelerometer) */ }; /** |