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89 lines
4.0 KiB
89 lines
4.0 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_gps_position.h |
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* Definition of the GPS WGS84 uORB topic. |
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*/ |
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#ifndef TOPIC_VEHICLE_GPS_H_ |
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#define TOPIC_VEHICLE_GPS_H_ |
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#include <stdint.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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* GPS position in WGS84 coordinates. |
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*/ |
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struct vehicle_gps_position_s |
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{ |
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uint64_t timestamp; /**< Timestamp (microseconds since system boot) */ |
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uint32_t counter; /**< Count of GPS messages */ |
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uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */ |
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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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int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL //LOGME */ |
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uint16_t counter_pos_valid; /**< is only increased when new lat/lon/alt information was added */ |
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uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME */ |
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uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */ |
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uint16_t vel; /**< GPS ground speed (m/s * 100). If unknown, set to: 65535 */ |
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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 */ |
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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. */ |
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uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */ |
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uint8_t satellite_prn[20]; /**< Global satellite ID */ |
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uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */ |
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uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ |
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uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ |
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uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */ |
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uint8_t satellite_info_available; /**< 0 for no info, 1 for info available */ |
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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_gps_position); |
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#endif
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