diff options
Diffstat (limited to 'src/modules/uORB/topics/vehicle_global_position.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 50 |
1 files changed, 27 insertions, 23 deletions
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index 4376fa1ba..adcd028f0 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * 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> + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,6 +34,10 @@ /** * @file vehicle_global_position.h * Definition of the global fused WGS84 position uORB topic. + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> */ #ifndef VEHICLE_GLOBAL_POSITION_T_H_ @@ -51,27 +52,30 @@ * @{ */ -/** -* 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. -*/ + /** + * Fused global position in WGS84. + * + * 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. + */ 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 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. */ - 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. */ + float baro_alt; /**< Barometric altitude (not raw baro but fused with accelerometer) */ }; /** |