fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-08 04:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

position_estimator_inav: use independent estimate for distance to ground (sonar), WIP

Browse Source
This commit is contained in:
Anton Babushkin
2013-10-10 19:10:45 +02:00
parent aedb97f38e
commit 86c53bee43
4 changed files with 26 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uORB/topics/vehicle_local_position.h
+5
View File
@@ -77,6 +77,11 @@ struct vehicle_local_position_s
int32_t ref_lon; /**< Reference point longitude in 1E7 degrees */
float ref_alt; /**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */
bool landed; /**< true if vehicle is landed */
/* Distance to surface */
float dist_bottom; /**< Distance to bottom surface (ground) */
float v_dist_bottom; /**< Distance to bottom surface (ground) change rate */
uint64_t surface_bottom_timestamp; /**< Time when new bottom surface found */
bool dist_bottom_valid; /**< true if distance to bottom surface is valid */
};
/**