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86 lines
3.4 KiB
86 lines
3.4 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> |
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* @author Julian Oes <joes@student.ethz.ch> |
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* @author Lorenz Meier <lm@inf.ethz.ch> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file vehicle_global_position.h |
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* Definition of the global fused WGS84 position uORB topic. |
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*/ |
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#ifndef VEHICLE_GLOBAL_POSITION_T_H_ |
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#define VEHICLE_GLOBAL_POSITION_T_H_ |
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#include <stdint.h> |
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#include <stdbool.h> |
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#include "../uORB.h" |
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/** |
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* @addtogroup topics |
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* @{ |
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*/ |
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/** |
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* Fused global position in WGS84. |
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* |
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* This struct contains the system's believ about its position. It is not the raw GPS |
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* measurement (@see vehicle_gps_position). This topic is usually published by the position |
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* estimator, which will take more sources of information into account than just GPS, |
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* e.g. control inputs of the vehicle in a Kalman-filter implementation. |
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*/ |
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struct vehicle_global_position_s |
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{ |
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uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ |
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uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ |
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bool valid; /**< true if position satisfies validity criteria of estimator */ |
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int32_t lat; /**< Latitude in 1E7 degrees LOGME */ |
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int32_t lon; /**< Longitude in 1E7 degrees LOGME */ |
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float alt; /**< Altitude in meters LOGME */ |
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float relative_alt; /**< Altitude above home position in meters, LOGME */ |
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float vx; /**< Ground X Speed (Latitude), m/s in ENU LOGME */ |
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float vy; /**< Ground Y Speed (Longitude), m/s in ENU LOGME */ |
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float vz; /**< Ground Z Speed (Altitude), m/s in ENU LOGME */ |
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float hdg; /**< Compass heading in radians -PI..+PI. */ |
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}; |
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/** |
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* @} |
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*/ |
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/* register this as object request broker structure */ |
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ORB_DECLARE(vehicle_global_position); |
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#endif
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