/****************************************************************************
 *
 *   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>
 *
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 *
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 *    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
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/**
 * @file vehicle_global_position.h
 * Definition of the global fused WGS84 position uORB topic.
 */

#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 the system's believ about its position. 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							   */
	bool valid;			/**< true if position satisfies validity criteria of estimator */

	int32_t lat;			/**< Latitude in 1E7 degrees							 	   */
	int32_t lon;			/**< Longitude in 1E7 degrees							 	   */
	float alt;			/**< Altitude in meters									 	   */
	float relative_alt;		/**< Altitude above home position in meters, 				   */
	float vx; 			/**< Ground X velocity, m/s in NED				 			   */
	float vy;			/**< Ground Y velocity, m/s in NED							   */
	float vz;			/**< Ground Z velocity, m/s	in NED 							   */
	float yaw; 			/**< Compass heading in radians -PI..+PI.					   */
};

/**
 * @}
 */

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

#endif