diff options
Diffstat (limited to 'src/modules/uORB/topics/vehicle_global_position.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 17 |
1 files changed, 8 insertions, 9 deletions
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index 143734e37..ae771ca00 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -54,7 +54,7 @@ /** * Fused global position in WGS84. * - * This struct contains the system's believ about its position. It is not the raw GPS + * 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. @@ -65,14 +65,13 @@ struct vehicle_global_position_s 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 */ - 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. */ + double lat; /**< Latitude in degrees */ + double lon; /**< Longitude in degrees */ + float alt; /**< Altitude 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. */ }; /** |