Topics: Move from global_position_setpoint to mission_item_triplet

10 files changed, 58 insertions, 153 deletions

diff --git a/src/examples/flow_position_control/flow_position_control_main.c b/src/examples/flow_position_control/flow_position_control_main.c
index 3125ce246..391e40ac1 100644
--- a/src/examples/flow_position_control/flow_position_control_main.c
+++ b/src/examples/flow_position_control/flow_position_control_main.c
@@ -61,7 +61,6 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_bodyframe_speed_setpoint.h>
-#include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/filtered_bottom_flow.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/perf_counter.h>
diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp
index 335439fb7..8cc0d77d4 100644
--- a/src/modules/controllib/uorb/blocks.hpp
+++ b/src/modules/controllib/uorb/blocks.hpp
@@ -43,7 +43,6 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_setpoint.h>
 #include <uORB/topics/mission_item_triplet.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index 9e43467cc..de902f3da 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -136,7 +136,7 @@ static const struct listener listeners[] = {
 	{l_input_rc,			&mavlink_subs.input_rc_sub,	0},
 	{l_global_position,		&mavlink_subs.global_pos_sub,	0},
 	{l_local_position,		&mavlink_subs.local_pos_sub,	0},
-	{l_global_position_setpoint,	&mavlink_subs.spg_sub,		0},
+	{l_global_position_setpoint,	&mavlink_subs.triplet_sub,	0},
 	{l_local_position_setpoint,	&mavlink_subs.spl_sub,		0},
 	{l_attitude_setpoint,		&mavlink_subs.spa_sub,		0},
 	{l_actuator_outputs,		&mavlink_subs.act_0_sub,	0},
@@ -402,23 +402,24 @@ l_local_position(const struct listener *l)
 void
 l_global_position_setpoint(const struct listener *l)
 {
-	struct vehicle_global_position_setpoint_s global_sp;
-
-	/* copy local position data into local buffer */
-	orb_copy(ORB_ID(vehicle_global_position_setpoint), mavlink_subs.spg_sub, &global_sp);
+	struct mission_item_triplet_s triplet;
+	orb_copy(ORB_ID(mission_item_triplet), mavlink_subs.triplet_sub, &triplet);
 
 	uint8_t coordinate_frame = MAV_FRAME_GLOBAL;
+	
+	if (!triplet.current_valid)
+		return;
 
-	if (global_sp.altitude_is_relative)
+	if (triplet.current.altitude_is_relative)
 		coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
 
 	if (gcs_link)
 		mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0,
 				coordinate_frame,
-				global_sp.lat,
-				global_sp.lon,
-				global_sp.altitude * 1000.0f,
-				global_sp.yaw * M_RAD_TO_DEG_F * 100.0f);
+				(int32_t)(triplet.current.lat * 1e7f),
+				(int32_t)(triplet.current.lon * 1e7f),
+				(int32_t)(triplet.current.altitude * 1e3f),
+				(int16_t)(triplet.current.yaw * M_RAD_TO_DEG_F * 1e2f));
 }
 
 void
@@ -770,9 +771,9 @@ uorb_receive_start(void)
 	orb_set_interval(mavlink_subs.local_pos_sub, 1000);	/* 1Hz active updates */
 
 	/* --- GLOBAL SETPOINT VALUE --- */
-	mavlink_subs.spg_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
-	orb_set_interval(mavlink_subs.spg_sub, 2000);	/* 0.5 Hz updates */
-
+	mavlink_subs.triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet));
+	orb_set_interval(mavlink_subs.triplet_sub, 2000);	/* 0.5 Hz updates */
+	
 	/* --- LOCAL SETPOINT VALUE --- */
 	mavlink_subs.spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
 	orb_set_interval(mavlink_subs.spl_sub, 2000);	/* 0.5 Hz updates */
diff --git a/src/modules/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h
index 2cba25338..7d24b8f93 100644
--- a/src/modules/mavlink/orb_topics.h
+++ b/src/modules/mavlink/orb_topics.h
@@ -50,8 +50,8 @@
 #include <uORB/topics/offboard_control_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
+#include <uORB/topics/mission_item_triplet.h>
 #include <uORB/topics/vehicle_vicon_position.h>
-#include <uORB/topics/vehicle_global_position_setpoint.h>
 #include <uORB/topics/mission_item_triplet.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
@@ -86,7 +86,7 @@ struct mavlink_subscriptions {
 	int local_pos_sub;
 	int spa_sub;
 	int spl_sub;
-	int spg_sub;
+	int triplet_sub;
 	int debug_key_value;
 	int input_rc_sub;
 	int optical_flow;
diff --git a/src/modules/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h
index 1b49c9ce4..86bfa26f2 100644
--- a/src/modules/mavlink_onboard/orb_topics.h
+++ b/src/modules/mavlink_onboard/orb_topics.h
@@ -50,7 +50,7 @@
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_vicon_position.h>
-#include <uORB/topics/vehicle_global_position_setpoint.h>
+#include <uORB/topics/mission_item_triplet.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/optical_flow.h>
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c
index 3d23d0c09..5af7e2a82 100644
--- a/src/modules/multirotor_pos_control/multirotor_pos_control.c
+++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c
@@ -61,8 +61,8 @@
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
-#include <uORB/topics/vehicle_global_position_setpoint.h>
 #include <uORB/topics/vehicle_global_velocity_setpoint.h>
+#include <uORB/topics/mission_item_triplet.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/pid/pid.h>
 #include <mavlink/mavlink_log.h>
@@ -190,12 +190,12 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
 	memset(&manual, 0, sizeof(manual));
 	struct vehicle_local_position_s local_pos;
 	memset(&local_pos, 0, sizeof(local_pos));
-	struct vehicle_local_position_setpoint_s local_pos_sp;
-	memset(&local_pos_sp, 0, sizeof(local_pos_sp));
-	struct vehicle_global_position_setpoint_s global_pos_sp;
-	memset(&global_pos_sp, 0, sizeof(global_pos_sp));
+	struct mission_item_triplet_s triplet;
+	memset(&triplet, 0, sizeof(triplet));
 	struct vehicle_global_velocity_setpoint_s global_vel_sp;
 	memset(&global_vel_sp, 0, sizeof(global_vel_sp));
+	struct vehicle_local_position_setpoint_s local_pos_sp;
+	memset(&local_pos_sp, 0, sizeof(local_pos_sp));
 
 	/* subscribe to attitude, motor setpoints and system state */
 	int param_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -203,9 +203,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 	int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 	int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-	int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
-	int local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
-	int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
+	int mission_triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet));
 
 	/* publish setpoint */
 	orb_advert_t local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &local_pos_sp);
@@ -292,11 +290,11 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
 		}
 
-		orb_check(global_pos_sp_sub, &updated);
+		orb_check(mission_triplet_sub, &updated);
 
 		if (updated) {
-			orb_copy(ORB_ID(vehicle_global_position_setpoint), global_pos_sp_sub, &global_pos_sp);
-			global_pos_sp_valid = true;
+			orb_copy(ORB_ID(mission_item_triplet), mission_triplet_sub, &triplet);
+			global_pos_sp_valid = triplet.current_valid;
 			reset_mission_sp = true;
 		}
 
@@ -329,7 +327,6 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
 			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
 			orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
-			orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos);
 
 			float z_sp_offs_max = params.z_vel_max / params.z_p * 2.0f;
 			float xy_sp_offs_max = params.xy_vel_max / params.xy_p * 2.0f;
@@ -459,24 +456,22 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
 						/* update global setpoint projection */
 
 						if (global_pos_sp_valid) {
-							/* global position setpoint valid, use it */
-							double sp_lat = global_pos_sp.lat * 1e-7;
-							double sp_lon = global_pos_sp.lon * 1e-7;
+
 							/* project global setpoint to local setpoint */
-							map_projection_project(sp_lat, sp_lon, &(local_pos_sp.x), &(local_pos_sp.y));
+							map_projection_project(triplet.current.lat, triplet.current.lon, &(local_pos_sp.x), &(local_pos_sp.y));
 
-							if (global_pos_sp.altitude_is_relative) {
-								local_pos_sp.z = -global_pos_sp.altitude;
+							if (triplet.current.altitude_is_relative) {
+								local_pos_sp.z = -triplet.current.altitude;
 
 							} else {
-								local_pos_sp.z = local_pos.ref_alt - global_pos_sp.altitude;
+								local_pos_sp.z = local_pos.ref_alt - triplet.current.lat;
 							}
 							/* update yaw setpoint only if value is valid */
-							if (isfinite(global_pos_sp.yaw) && fabsf(global_pos_sp.yaw) < M_TWOPI) {
-								att_sp.yaw_body = global_pos_sp.yaw;
+							if (isfinite(triplet.current.yaw) && fabsf(triplet.current.yaw) < M_TWOPI) {
+								att_sp.yaw_body = triplet.current.yaw;
 							}
 
-							mavlink_log_info(mavlink_fd, "[mpc] new sp: %.7f, %.7f (%.2f, %.2f)", (double)sp_lat, sp_lon, (double)local_pos_sp.x, (double)local_pos_sp.y);
+							mavlink_log_info(mavlink_fd, "[mpc] new sp: %.7f, %.7f (%.2f, %.2f)", triplet.current.lat, triplet.current.lon, (double)local_pos_sp.x, (double)local_pos_sp.y);
 
 						} else {
 							if (reset_auto_sp_xy) {
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index e94b1e13c..5dc325a05 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -72,7 +72,7 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_setpoint.h>
+#include <uORB/topics/mission_item_triplet.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_vicon_position.h>
 #include <uORB/topics/vehicle_global_velocity_setpoint.h>
@@ -693,7 +693,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct vehicle_local_position_s local_pos;
 		struct vehicle_local_position_setpoint_s local_pos_sp;
 		struct vehicle_global_position_s global_pos;
-		struct vehicle_global_position_setpoint_s global_pos_sp;
+		struct mission_item_triplet_s triplet;
 		struct vehicle_gps_position_s gps_pos;
 		struct vehicle_vicon_position_s vicon_pos;
 		struct optical_flow_s flow;
@@ -718,7 +718,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int local_pos_sub;
 		int local_pos_sp_sub;
 		int global_pos_sub;
-		int global_pos_sp_sub;
+		int triplet_sub;
 		int gps_pos_sub;
 		int vicon_pos_sub;
 		int flow_sub;
@@ -840,8 +840,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 	fdsc_count++;
 
 	/* --- GLOBAL POSITION SETPOINT--- */
-	subs.global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
-	fds[fdsc_count].fd = subs.global_pos_sp_sub;
+	subs.triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet));
+	fds[fdsc_count].fd = subs.triplet_sub;
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
@@ -1150,20 +1150,21 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 			/* --- GLOBAL POSITION SETPOINT --- */
 			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(vehicle_global_position_setpoint), subs.global_pos_sp_sub, &buf.global_pos_sp);
+				orb_copy(ORB_ID(mission_item_triplet), subs.triplet_sub, &buf.triplet);
 				log_msg.msg_type = LOG_GPSP_MSG;
-				log_msg.body.log_GPSP.altitude_is_relative = buf.global_pos_sp.altitude_is_relative;
-				log_msg.body.log_GPSP.lat = buf.global_pos_sp.lat;
-				log_msg.body.log_GPSP.lon = buf.global_pos_sp.lon;
-				log_msg.body.log_GPSP.altitude = buf.global_pos_sp.altitude;
-				log_msg.body.log_GPSP.yaw = buf.global_pos_sp.yaw;
-				log_msg.body.log_GPSP.loiter_radius = buf.global_pos_sp.loiter_radius;
-				log_msg.body.log_GPSP.loiter_direction = buf.global_pos_sp.loiter_direction;
-				log_msg.body.log_GPSP.nav_cmd = buf.global_pos_sp.nav_cmd;
-				log_msg.body.log_GPSP.param1 = buf.global_pos_sp.param1;
-				log_msg.body.log_GPSP.param2 = buf.global_pos_sp.param2;
-				log_msg.body.log_GPSP.param3 = buf.global_pos_sp.param3;
-				log_msg.body.log_GPSP.param4 = buf.global_pos_sp.param4;
+				log_msg.body.log_GPSP.altitude_is_relative = buf.triplet.current.altitude_is_relative;
+				log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7);
+				log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7);
+				log_msg.body.log_GPSP.altitude = buf.triplet.current.altitude;
+				log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
+				log_msg.body.log_GPSP.nav_cmd = buf.triplet.current.nav_cmd;				
+				log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
+				log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
+				log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
+				log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
+				log_msg.body.log_GPSP.radius = buf.triplet.current.radius;
+				log_msg.body.log_GPSP.time_inside = buf.triplet.current.time_inside;
+				log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
 				LOGBUFFER_WRITE_AND_COUNT(GPSP);
 			}
 
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index ab4dc9b00..cb1393f1f 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -214,13 +214,12 @@ struct log_GPSP_s {
 	int32_t lon;
 	float altitude;
 	float yaw;
+	uint8_t nav_cmd;
 	float loiter_radius;
 	int8_t loiter_direction;
-	uint8_t nav_cmd;
-	float param1;
-	float param2;
-	float param3;
-	float param4;
+	float radius;
+	float time_inside;
+	float pitch_min;
 };
 
 /* --- ESC - ESC STATE --- */
@@ -288,7 +287,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
 	LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
 	LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"),
-	LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"),
+	LOG_FORMAT(GPSP, "BLLffBfbfff", "AltRel,Lat,Lon,Alt,Yaw,NavCmd,LoitRad,LoitDir,Rad,TimeIn,pitMin"),
 	LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 	LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
 	/* system-level messages, ID >= 0x80 */
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 7434df1c3..79a820c06 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -117,9 +117,6 @@ ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoi
 #include "topics/vehicle_bodyframe_speed_setpoint.h"
 ORB_DEFINE(vehicle_bodyframe_speed_setpoint, struct vehicle_bodyframe_speed_setpoint_s);
 
-#include "topics/vehicle_global_position_setpoint.h"
-ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s);
-
 #include "topics/mission_item_triplet.h"
 ORB_DEFINE(mission_item_triplet, struct mission_item_triplet_s);
 
diff --git a/src/modules/uORB/topics/vehicle_global_position_setpoint.h b/src/modules/uORB/topics/vehicle_global_position_setpoint.h
deleted file mode 100644
index a56434d3b..000000000
--- a/src/modules/uORB/topics/vehicle_global_position_setpoint.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @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
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_global_position_setpoint.h
- * Definition of the global WGS84 position setpoint uORB topic.
- */
-
-#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
-#define TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-#include "mission.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Global position setpoint in WGS84 coordinates.
- *
- * This is the position the MAV is heading towards. If it of type loiter,
- * the MAV is circling around it with the given loiter radius in meters.
- */
-struct vehicle_global_position_setpoint_s
-{
-	bool altitude_is_relative;	/**< true if altitude is relative from start point	*/
-	int32_t lat;			/**< latitude in degrees * 1E7				*/
-	int32_t lon;			/**< longitude in degrees * 1E7				*/
-	float altitude;			/**< altitude in meters					*/
-	float yaw;			/**< in radians NED -PI..+PI 				*/
-	float loiter_radius;		/**< loiter radius in meters, 0 for a VTOL to hover     */
-	int8_t loiter_direction;	/**< 1: positive / clockwise, -1, negative.		*/
-	enum NAV_CMD nav_cmd;		/**< true if loitering is enabled			*/
-	float param1;
-	float param2;
-	float param3;
-	float param4;
-	float turn_distance_xy;		/**< The distance on the plane which will mark this as reached */
-	float turn_distance_z;		/**< The distance in Z direction which will mark this as reached */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_global_position_setpoint);
-
-#endif