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/**
 * @file vehicle_global_position.h
 * Definition of the global fused WGS84 position uORB topic.
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <julian@oes.ch>
 * @author Lorenz Meier <lm@inf.ethz.ch>
 */

#ifndef VEHICLE_GLOBAL_POSITION_T_H_
#define VEHICLE_GLOBAL_POSITION_T_H_

#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"

/**
 * @addtogroup topics
 * @{
 */

 /**
 * Fused global position in WGS84.
 *
 * 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.
 */
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					   */
	double lat;			/**< Latitude in degrees							 	   */
	double lon;			/**< Longitude in degrees							 	   */
	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 eph;
	float epv;
};

/**
 * @}
 */

/* register this as object request broker structure */
ORB_DECLARE(vehicle_global_position);

#endif