diff options
Diffstat (limited to 'src/modules/uORB')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_attitude_setpoint.h | 2 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_local_position.h | 5 |
2 files changed, 6 insertions, 1 deletions
diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h index 1a245132a..7596f944f 100644 --- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h +++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h @@ -61,7 +61,7 @@ struct vehicle_attitude_setpoint_s float yaw_body; /**< body angle in NED frame */ //float body_valid; /**< Set to true if body angles are valid */ - float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */ + float R_body[3][3]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */ bool R_valid; /**< Set to true if rotation matrix is valid */ //! For quaternion-based attitude control diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index 427153782..d567f2e02 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -77,6 +77,11 @@ struct vehicle_local_position_s 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 */ + /* Distance to surface */ + float dist_bottom; /**< Distance to bottom surface (ground) */ + float dist_bottom_rate; /**< Distance to bottom surface (ground) change rate */ + uint64_t surface_bottom_timestamp; /**< Time when new bottom surface found */ + bool dist_bottom_valid; /**< true if distance to bottom surface is valid */ }; /** |