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vehicle_local_position topic updated, position_estimator_inav and commander fixes, only altitude estimate required for SETBELT now.

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This commit is contained in:
Anton Babushkin
2013-08-18 23:05:26 +02:00
parent 2be5240b9f
commit ffc2a8b7a3
10 changed files with 194 additions and 212 deletions
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src/modules/uORB/topics/vehicle_local_position.h
+19 -20
View File
@@ -54,27 +54,26 @@
*/
struct vehicle_local_position_s
{
uint64_t timestamp; /**< time of this estimate, in microseconds since system start */
bool valid; /**< true if position satisfies validity criteria of estimator */
float x; /**< X positin in meters in NED earth-fixed frame */
float y; /**< X positin in meters in NED earth-fixed frame */
float z; /**< Z positin in meters in NED earth-fixed frame (negative altitude) */
float absolute_alt; /**< Altitude as defined by pressure / GPS, LOGME */
float vx; /**< Ground X Speed (Latitude), m/s in NED LOGME */
float vy; /**< Ground Y Speed (Longitude), m/s in NED LOGME */
float vz; /**< Ground Z Speed (Altitude), m/s in NED LOGME */
float hdg; /**< Compass heading in radians -PI..+PI. */
// TODO Add covariances here
uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
bool xy_valid; /**< true if x and y are valid */
bool z_valid; /**< true if z is valid */
bool v_xy_valid; /**< true if vy and vy are valid */
bool v_z_valid; /**< true if vz is valid */
/* Position in local NED frame */
float x; /**< X position in meters in NED earth-fixed frame */
float y; /**< X position in meters in NED earth-fixed frame */
float z; /**< Z position in meters in NED earth-fixed frame (negative altitude) */
/* Velocity in NED frame */
float vx; /**< Ground X Speed (Latitude), m/s in NED */
float vy; /**< Ground Y Speed (Longitude), m/s in NED */
float vz; /**< Ground Z Speed (Altitude), m/s in NED */
/* Reference position in GPS / WGS84 frame */
uint64_t home_timestamp;/**< Time when home position was set */
int32_t home_lat; /**< Latitude in 1E7 degrees LOGME */
int32_t home_lon; /**< Longitude in 1E7 degrees LOGME */
float home_alt; /**< Altitude in meters LOGME */
float home_hdg; /**< Compass heading in radians -PI..+PI. */
bool global_xy; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
bool global_z; /**< true if z is valid and has valid global reference (ref_alt) */
uint64_t ref_timestamp; /**< Time when reference position 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 */
bool landed; /**< true if vehicle is landed */
};
src/modules/uORB/topics/vehicle_status.h
+2 -2
View File
@@ -68,8 +68,7 @@ typedef enum {
/* navigation state machine */
typedef enum {
NAVIGATION_STATE_STANDBY = 0, // standby state, disarmed
NAVIGATION_STATE_DIRECT, // true manual control, no any stabilization
NAVIGATION_STATE_DIRECT = 0, // true manual control, no any stabilization
NAVIGATION_STATE_STABILIZE, // attitude stabilization
NAVIGATION_STATE_ALTHOLD, // attitude + altitude stabilization
NAVIGATION_STATE_VECTOR, // attitude + altitude + position stabilization
@@ -203,6 +202,7 @@ struct vehicle_status_s
bool condition_launch_position_valid; /**< indicates a valid launch position */
bool condition_home_position_valid; /**< indicates a valid home position (a valid home position is not always a valid launch) */
bool condition_local_position_valid;
bool condition_local_altitude_valid;
bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */
bool condition_landed; /**< true if vehicle is landed, always true if disarmed */