diff options
Diffstat (limited to 'src/modules/uORB')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_local_position.h | 39 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 4 |
2 files changed, 21 insertions, 22 deletions
diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index 9d3b4468c..26e8f335b 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -54,27 +54,26 @@ */ struct vehicle_local_position_s { - uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ - bool valid; /**< true if position satisfies validity criteria of estimator */ - - float x; /**< X positin in meters in NED earth-fixed frame */ - float y; /**< X positin in meters in NED earth-fixed frame */ - float z; /**< Z positin in meters in NED earth-fixed frame (negative altitude) */ - float absolute_alt; /**< Altitude as defined by pressure / GPS, LOGME */ - float vx; /**< Ground X Speed (Latitude), m/s in NED LOGME */ - float vy; /**< Ground Y Speed (Longitude), m/s in NED LOGME */ - float vz; /**< Ground Z Speed (Altitude), m/s in NED LOGME */ - float hdg; /**< Compass heading in radians -PI..+PI. */ - - // TODO Add covariances here - + uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ + bool xy_valid; /**< true if x and y are valid */ + bool z_valid; /**< true if z is valid */ + bool v_xy_valid; /**< true if vy and vy are valid */ + bool v_z_valid; /**< true if vz is valid */ + /* Position in local NED frame */ + float x; /**< X position in meters in NED earth-fixed frame */ + float y; /**< X position in meters in NED earth-fixed frame */ + float z; /**< Z position in meters in NED earth-fixed frame (negative altitude) */ + /* Velocity in NED frame */ + float vx; /**< Ground X Speed (Latitude), m/s in NED */ + float vy; /**< Ground Y Speed (Longitude), m/s in NED */ + float vz; /**< Ground Z Speed (Altitude), m/s in NED */ /* Reference position in GPS / WGS84 frame */ - uint64_t home_timestamp;/**< Time when home position was set */ - int32_t home_lat; /**< Latitude in 1E7 degrees LOGME */ - int32_t home_lon; /**< Longitude in 1E7 degrees LOGME */ - float home_alt; /**< Altitude in meters LOGME */ - float home_hdg; /**< Compass heading in radians -PI..+PI. */ - + bool global_xy; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */ + bool global_z; /**< true if z is valid and has valid global reference (ref_alt) */ + uint64_t ref_timestamp; /**< Time when reference position was set */ + int32_t ref_lat; /**< Reference point latitude in 1E7 degrees */ + int32_t ref_lon; /**< Reference point longitude in 1E7 degrees */ + float ref_alt; /**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */ bool landed; /**< true if vehicle is landed */ }; diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 6690fb2be..4317e07f2 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -68,8 +68,7 @@ typedef enum { /* navigation state machine */ typedef enum { - NAVIGATION_STATE_STANDBY = 0, // standby state, disarmed - NAVIGATION_STATE_DIRECT, // true manual control, no any stabilization + NAVIGATION_STATE_DIRECT = 0, // true manual control, no any stabilization NAVIGATION_STATE_STABILIZE, // attitude stabilization NAVIGATION_STATE_ALTHOLD, // attitude + altitude stabilization NAVIGATION_STATE_VECTOR, // attitude + altitude + position stabilization @@ -203,6 +202,7 @@ struct vehicle_status_s bool condition_launch_position_valid; /**< indicates a valid launch position */ bool condition_home_position_valid; /**< indicates a valid home position (a valid home position is not always a valid launch) */ bool condition_local_position_valid; + bool condition_local_altitude_valid; bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */ bool condition_landed; /**< true if vehicle is landed, always true if disarmed */ |