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 *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
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 *    used to endorse or promote products derived from this software
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/**
 * @file vehicle_vicon_position.h
 * Definition of the raw VICON Motion Capture position
 */

#ifndef TOPIC_VEHICLE_VICON_POSITION_H_
#define TOPIC_VEHICLE_VICON_POSITION_H_

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

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

/**
 * Fused local position in NED.
 */
struct vehicle_vicon_position_s
{
	uint64_t timestamp;			/**< time of this estimate, in microseconds since system start */
	bool valid;				/**< true if position satisfies validity criteria of estimator */

	float x;				/**< X positin in meters in NED earth-fixed frame */
	float y;				/**< X positin in meters in NED earth-fixed frame */
	float z;				/**< Z positin in meters in NED earth-fixed frame (negative altitude) */
	float roll;
	float pitch;
	float yaw;

	// TODO Add covariances here

};

/**
 * @}
 */

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

#endif