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87 lines
3.3 KiB
87 lines
3.3 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* Author: @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_local_position.h |
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* Definition of the local fused NED position uORB topic. |
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*/ |
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#ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_ |
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#define TOPIC_VEHICLE_LOCAL_POSITION_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 local position in NED. |
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*/ |
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struct vehicle_local_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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bool valid; /**< true if position satisfies validity criteria of estimator */ |
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float x; /**< X positin in meters in NED earth-fixed frame */ |
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float y; /**< X positin in meters in NED earth-fixed frame */ |
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float z; /**< Z positin in meters in NED earth-fixed frame (negative altitude) */ |
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float absolute_alt; /**< Altitude as defined by pressure / GPS, LOGME */ |
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float vx; /**< Ground X Speed (Latitude), m/s in NED LOGME */ |
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float vy; /**< Ground Y Speed (Longitude), m/s in NED LOGME */ |
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float vz; /**< Ground Z Speed (Altitude), m/s in NED LOGME */ |
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float hdg; /**< Compass heading in radians -PI..+PI. */ |
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// TODO Add covariances here |
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/* Reference position in GPS / WGS84 frame */ |
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uint64_t home_timestamp;/**< Time when home position was set */ |
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int32_t home_lat; /**< Latitude in 1E7 degrees LOGME */ |
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int32_t home_lon; /**< Longitude in 1E7 degrees LOGME */ |
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float home_alt; /**< Altitude in meters LOGME */ |
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float home_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_local_position); |
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#endif
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