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global_position topic: added baro_alt, mc_pos_control: SEATBELT mode fixed, use baro/AMSL alt

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Anton Babushkin
2014-01-28 20:40:05 +01:00
parent 48f1b7e1c7
commit 6a1a29f77e
11 changed files with 69 additions and 34 deletions
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src/modules/uORB/topics/vehicle_global_position.h
+8 -4
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@@ -61,17 +61,21 @@
*/
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 */
uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
bool global_valid; /**< true if position satisfies validity criteria of estimator */
bool baro_valid; /**< true if baro_alt is valid (vel_d is also valid in this case) */
uint64_t time_gps_usec; /**< GPS timestamp in microseconds */
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
float alt; /**< Altitude in meters */
float alt; /**< Altitude AMSL in meters */
float vel_n; /**< Ground north velocity, m/s */
float vel_e; /**< Ground east velocity, m/s */
float vel_d; /**< Ground downside velocity, m/s */
float yaw; /**< Yaw in radians -PI..+PI. */
float baro_alt; /**< Barometric altitude (not raw baro but fused with accelerometer) */
};
/**