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Diffstat (limited to 'src/modules/uORB/topics/vehicle_gps_position.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_gps_position.h | 100 |
1 files changed, 100 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h new file mode 100644 index 000000000..0a7fb4e9d --- /dev/null +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -0,0 +1,100 @@ +/**************************************************************************** + * + * 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_gps_position.h + * Definition of the GPS WGS84 uORB topic. + */ + +#ifndef TOPIC_VEHICLE_GPS_H_ +#define TOPIC_VEHICLE_GPS_H_ + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * GPS position in WGS84 coordinates. + */ +struct vehicle_gps_position_s +{ + uint64_t timestamp_position; /**< Timestamp for position information */ + int32_t lat; /**< Latitude in 1E7 degrees */ + int32_t lon; /**< Longitude in 1E7 degrees */ + int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */ + + uint64_t timestamp_variance; + float s_variance_m_s; /**< speed accuracy estimate m/s */ + float p_variance_m; /**< position accuracy estimate m */ + float c_variance_rad; /**< course accuracy estimate rad */ + uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ + + float eph_m; /**< GPS HDOP horizontal dilution of position in m */ + float epv_m; /**< GPS VDOP horizontal dilution of position in m */ + + uint64_t timestamp_velocity; /**< Timestamp for velocity informations */ + float vel_m_s; /**< GPS ground speed (m/s) */ + float vel_n_m_s; /**< GPS ground speed in m/s */ + float vel_e_m_s; /**< GPS ground speed in m/s */ + float vel_d_m_s; /**< GPS ground speed in m/s */ + float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */ + bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */ + + uint64_t timestamp_time; /**< Timestamp for time information */ + uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */ + + uint64_t timestamp_satellites; /**< Timestamp for sattelite information */ + uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */ + uint8_t satellite_prn[20]; /**< Global satellite ID */ + uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */ + uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ + uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ + uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */ + bool satellite_info_available; /**< 0 for no info, 1 for info available */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_gps_position); + +#endif |