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Diffstat (limited to 'apps/uORB/topics/vehicle_global_position.h')
| -rw-r--r-- | apps/uORB/topics/vehicle_global_position.h | 86 |
1 files changed, 0 insertions, 86 deletions
diff --git a/apps/uORB/topics/vehicle_global_position.h b/apps/uORB/topics/vehicle_global_position.h deleted file mode 100644 index f036c7223..000000000 --- a/apps/uORB/topics/vehicle_global_position.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.h - * Definition of the global fused WGS84 position uORB topic. - */ - -#ifndef VEHICLE_GLOBAL_POSITION_T_H_ -#define VEHICLE_GLOBAL_POSITION_T_H_ - -#include <stdint.h> -#include <stdbool.h> -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ - - /** - * Fused global position in WGS84. - * - * This struct contains the system's believ about its position. 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. - */ -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 */ - - int32_t lat; /**< Latitude in 1E7 degrees LOGME */ - int32_t lon; /**< Longitude in 1E7 degrees LOGME */ - float alt; /**< Altitude in meters LOGME */ - float relative_alt; /**< Altitude above home position in meters, LOGME */ - float vx; /**< Ground X Speed (Latitude), m/s in ENU LOGME */ - float vy; /**< Ground Y Speed (Longitude), m/s in ENU LOGME */ - float vz; /**< Ground Z Speed (Altitude), m/s in ENU LOGME */ - float hdg; /**< Compass heading in radians -PI..+PI. */ - -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(vehicle_global_position); - -#endif |