/****************************************************************************
*
* 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
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* 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
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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 ; /**< 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
