/****************************************************************************
 *
 *   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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 * 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.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file vehicle_gps_position.h
 * Definition of the GPS WGS84 uORB topic.
 */

#ifndef TOPIC_VEHICLE_GPS_H_
#define TOPIC_VEHICLE_GPS_H_

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

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

/**
 * GPS position in WGS84 coordinates.
 */
struct vehicle_gps_position_s
{
	uint64_t timestamp_position;			/**< Timestamp for position information */
	int32_t lat;					/**< Latitude in 1E-7 degrees */
	int32_t lon;					/**< Longitude in 1E-7 degrees */
	int32_t alt;					/**< Altitude in 1E-3 meters (millimeters) above MSL  */
	
	uint64_t timestamp_variance;
	float s_variance_m_s;				/**< speed accuracy estimate m/s */
	float p_variance_m;				/**< position accuracy estimate m */
	float c_variance_rad;				/**< course accuracy estimate rad */
	uint8_t fix_type; 				/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */

	float eph_m;					/**< GPS HDOP horizontal dilution of position in m */
	float epv_m;					/**< GPS VDOP horizontal dilution of position in m */

	uint64_t timestamp_velocity;			/**< Timestamp for velocity informations */
	float vel_m_s;					/**< GPS ground speed (m/s) */
	float vel_n_m_s;				/**< GPS ground speed in m/s */
	float vel_e_m_s;				/**< GPS ground speed in m/s */
	float vel_d_m_s;				/**< GPS ground speed in m/s */
	float cog_rad;					/**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
	bool vel_ned_valid;				/**< Flag to indicate if NED speed is valid */

	uint64_t timestamp_time;			/**< Timestamp for time information */
	uint64_t time_gps_usec;				/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */

	uint64_t timestamp_satellites;			/**< Timestamp for sattelite information */
	uint8_t satellites_visible;			/**< Number of satellites visible. If unknown, set to 255 */
	uint8_t satellite_prn[20]; 			/**< Global satellite ID */
	uint8_t satellite_used[20];			/**< 0: Satellite not used, 1: used for localization */
	uint8_t satellite_elevation[20]; 		/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
	uint8_t satellite_azimuth[20];			/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
	uint8_t satellite_snr[20];			/**< Signal to noise ratio of satellite   */
	bool satellite_info_available;			/**< 0 for no info, 1 for info available */
};

/**
 * @}
 */

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

#endif