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100 lines
4.3 KiB
C
100 lines
4.3 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 Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @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_gps_position.h
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* Definition of the GPS WGS84 uORB topic.
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*/
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#ifndef TOPIC_VEHICLE_GPS_H_
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#define TOPIC_VEHICLE_GPS_H_
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#include <stdint.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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* GPS position in WGS84 coordinates.
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*/
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struct vehicle_gps_position_s
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{
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uint64_t timestamp_position; /**< Timestamp for position information */
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int32_t lat; /**< Latitude in 1E7 degrees */
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int32_t lon; /**< Longitude in 1E7 degrees */
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int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
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uint64_t timestamp_variance;
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float s_variance_m_s; /**< speed accuracy estimate m/s */
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float p_variance_m; /**< position accuracy estimate m */
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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. */
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float eph_m; /**< GPS HDOP horizontal dilution of position in m */
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float epv_m; /**< GPS VDOP horizontal dilution of position in m */
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uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
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float vel_m_s; /**< GPS ground speed (m/s) */
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float vel_n_m_s; /**< GPS ground speed in m/s */
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float vel_e_m_s; /**< GPS ground speed in m/s */
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float vel_d_m_s; /**< GPS ground speed in m/s */
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float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad */
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bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
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uint64_t timestamp_time; /**< Timestamp for time information */
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uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */
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uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
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uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */
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uint8_t satellite_prn[20]; /**< Global satellite ID */
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uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */
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uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
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uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
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uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */
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bool satellite_info_available; /**< 0 for no info, 1 for info available */
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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_gps_position);
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#endif
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