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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_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
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