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90 lines
3.6 KiB
C
90 lines
3.6 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file vehicle_local_position.h
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* Definition of the local fused NED position uORB topic.
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*/
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#ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
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#define TOPIC_VEHICLE_LOCAL_POSITION_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "../uORB.h"
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/**
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* @addtogroup topics
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* @{
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*/
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/**
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* Fused local position in NED.
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*/
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struct vehicle_local_position_s
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{
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uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
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bool xy_valid; /**< true if x and y are valid */
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bool z_valid; /**< true if z is valid */
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bool v_xy_valid; /**< true if vy and vy are valid */
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bool v_z_valid; /**< true if vz is valid */
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/* Position in local NED frame */
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float x; /**< X position in meters in NED earth-fixed frame */
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float y; /**< X position in meters in NED earth-fixed frame */
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float z; /**< Z position in meters in NED earth-fixed frame (negative altitude) */
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/* Velocity in NED frame */
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float vx; /**< Ground X Speed (Latitude), m/s in NED */
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float vy; /**< Ground Y Speed (Longitude), m/s in NED */
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float vz; /**< Ground Z Speed (Altitude), m/s in NED */
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/* Heading */
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float yaw;
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/* Reference position in GPS / WGS84 frame */
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bool xy_global; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
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bool z_global; /**< true if z is valid and has valid global reference (ref_alt) */
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uint64_t ref_timestamp; /**< Time when reference position was set */
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int32_t ref_lat; /**< Reference point latitude in 1E7 degrees */
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int32_t ref_lon; /**< Reference point longitude in 1E7 degrees */
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float ref_alt; /**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */
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bool landed; /**< true if vehicle is landed */
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};
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(vehicle_local_position);
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#endif
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