From 6a1a29f77ecc9ded341bfbca037c9a6768ed3fb4 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 28 Jan 2014 20:40:05 +0100 Subject: global_position topic: added baro_alt, mc_pos_control: SEATBELT mode fixed, use baro/AMSL alt --- src/modules/uORB/topics/vehicle_global_position.h | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) (limited to 'src/modules/uORB/topics/vehicle_global_position.h') diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index ae771ca00..ff9e98e1c 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -61,17 +61,21 @@ */ 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 */ + uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ + bool global_valid; /**< true if position satisfies validity criteria of estimator */ + bool baro_valid; /**< true if baro_alt is valid (vel_d is also valid in this case) */ + + uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ double lat; /**< Latitude in degrees */ double lon; /**< Longitude in degrees */ - float alt; /**< Altitude in meters */ + float alt; /**< Altitude AMSL 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. */ + + float baro_alt; /**< Barometric altitude (not raw baro but fused with accelerometer) */ }; /** -- cgit v1.2.3