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Diffstat (limited to 'src/modules/uORB/topics/vehicle_global_position.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 86 |
1 files changed, 86 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h new file mode 100644 index 000000000..f036c7223 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * 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 |