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Added vehicle_local_position.ref_surface_timestamp to track surface level changes. Reference altitude updated continuosly when sonar available.

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Anton Babushkin
2013-10-08 21:18:17 +02:00
parent ff92770305
commit c96de846b3
3 changed files with 54 additions and 32 deletions
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src/modules/uORB/topics/vehicle_local_position.h
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@@ -73,6 +73,7 @@ struct vehicle_local_position_s
bool xy_global; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
bool z_global; /**< true if z is valid and has valid global reference (ref_alt) */
uint64_t ref_timestamp; /**< Time when reference position was set */
uint64_t ref_surface_timestamp; /**< Time when reference surface was set */
int32_t ref_lat; /**< Reference point latitude in 1E7 degrees */
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 */