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/****************************************************************************
*
* 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>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* 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
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @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; /**< Timestamp (microseconds since system boot) */
uint32_t counter; /**< Count of GPS messages */
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */
int32_t lat; /**< Latitude in 1E7 degrees //LOGME */
int32_t lon; /**< Longitude in 1E7 degrees //LOGME */
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL //LOGME */
uint16_t counter_pos_valid; /**< is only increased when new lat/lon/alt information was added */
uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME */
uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
float s_variance; /**< speed accuracy estimate cm/s */
float p_variance; /**< position accuracy estimate cm */
uint16_t vel; /**< GPS ground speed (m/s * 100). If unknown, set to: 65535 */
float vel_n; /**< GPS ground speed in m/s */
float vel_e; /**< GPS ground speed in m/s */
float vel_d; /**< GPS ground speed in m/s */
uint16_t cog; /**< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 */
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. */
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 */
uint8_t satellite_info_available; /**< 0 for no info, 1 for info available */
/* flags */
float vel_ned_valid; /**< Flag to indicate if NED speed is valid */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_gps_position);
#endif
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