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HIL bugfixing

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This commit is contained in:
Lorenz Meier
2013-04-25 17:25:42 +02:00
parent d62058eccf
commit ed9fbbce59
4 changed files with 43 additions and 30 deletions
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apps/uORB/topics/vehicle_gps_position.h
+20 -19
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@@ -55,38 +55,39 @@
*/
struct vehicle_gps_position_s
{
uint64_t timestamp_position; /**< Timestamp for position information */
int32_t lat; /**< Latitude in 1E7 degrees */
int32_t lon; /**< Longitude in 1E7 degrees */
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
uint64_t timestamp_position; /**< Timestamp for position information */
int32_t lat; /**< Latitude in 1E7 degrees */
int32_t lon; /**< Longitude in 1E7 degrees */
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
uint64_t timestamp_variance;
float s_variance_m_s; /**< speed accuracy estimate m/s */
float p_variance_m; /**< position accuracy estimate m */
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. */
float p_variance_m; /**< position accuracy estimate m */
float c_variance_rad; /**< course accuracy estimate rad */
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. */
float eph_m; /**< GPS HDOP horizontal dilution of position in m */
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
float eph_m; /**< GPS HDOP horizontal dilution of position in m */
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
float vel_m_s; /**< GPS ground speed (m/s) */
float vel_n_m_s; /**< GPS ground speed in m/s */
float vel_e_m_s; /**< GPS ground speed in m/s */
float vel_d_m_s; /**< GPS ground speed in m/s */
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad */
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
float vel_m_s; /**< GPS ground speed (m/s) */
float vel_n_m_s; /**< GPS ground speed in m/s */
float vel_e_m_s; /**< GPS ground speed in m/s */
float vel_d_m_s; /**< GPS ground speed in m/s */
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_time; /**< Timestamp for time information */
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */
uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */
uint8_t satellite_prn[20]; /**< Global satellite ID */
uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */
bool satellite_info_available; /**< 0 for no info, 1 for info available */
bool satellite_info_available; /**< 0 for no info, 1 for info available */
};
/**