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/**
 * @file vision_position_estimate.h
 * Vision based position estimate
 */

#ifndef TOPIC_VISION_POSITION_ESTIMATE_H_
#define TOPIC_VISION_POSITION_ESTIMATE_H_

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

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

/**
 * Vision based position estimate in NED frame
 */
struct vision_position_estimate {

	unsigned id;				/**< ID of the estimator, commonly the component ID of the incoming message */

	uint64_t timestamp_boot;		/**< time of this estimate, in microseconds since system start */
	uint64_t timestamp_computer;		/**< timestamp provided by the companion computer, in us */

	float x;				/**< X position in meters in NED earth-fixed frame */
	float y;				/**< Y position in meters in NED earth-fixed frame */
	float z;				/**< Z position in meters in NED earth-fixed frame (negative altitude) */

	float vx;				/**< X velocity in meters per second in NED earth-fixed frame */
	float vy;				/**< Y velocity in meters per second in NED earth-fixed frame */
	float vz;				/**< Z velocity in meters per second in NED earth-fixed frame */

	float q[4];				/**< Estimated attitude as quaternion */

	// XXX Add covariances here

};

/**
 * @}
 */

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

#endif /* TOPIC_VISION_POSITION_ESTIMATE_H_ */