Merge branch 'release_v1.0.0'

msg/filtered_bottom_flow.msg

@@ -0,0 +1,8 @@
+# Filtered bottom flow in bodyframe.
+uint64 timestamp		# time of this estimate, in microseconds since system start
+
+float32 sumx				# Integrated bodyframe x flow in meters
+float32 sumy				# Integrated bodyframe y flow in meters
+
+float32 vx 				# Flow bodyframe x speed, m/s
+float32 vy				# Flow bodyframe y Speed, m/s

msg/home_position.msg

@@ -0,0 +1,10 @@
+# GPS home position in WGS84 coordinates.
+uint64 timestamp			# Timestamp (microseconds since system boot)
+
+float64 lat				# Latitude in degrees
+float64 lon				# Longitude in degrees
+float32 alt				# Altitude in meters (AMSL)
+
+float32 x				# X coordinate in meters
+float32 y				# Y coordinate in meters
+float32 z				# Z coordinate in meters

msg/optical_flow.msg

@@ -0,0 +1,17 @@
+# Optical flow in NED body frame in SI units.
+# @see http://en.wikipedia.org/wiki/International_System_of_Units
+ 
+uint64 timestamp		# in microseconds since system start
+uint8 sensor_id			# id of the sensor emitting the flow value
+float32 pixel_flow_x_integral	# accumulated optical flow in radians around x axis
+float32 pixel_flow_y_integral	# accumulated optical flow in radians around y axis
+float32 gyro_x_rate_integral	# accumulated gyro value in radians around x axis
+float32 gyro_y_rate_integral	# accumulated gyro value in radians around y axis
+float32 gyro_z_rate_integral	# accumulated gyro value in radians around z axis
+float32 ground_distance_m	# Altitude / distance to ground in meters
+uint32 integration_timespan	# accumulation timespan in microseconds
+uint32 time_since_last_sonar_update	# time since last sonar update in microseconds
+uint16 frame_count_since_last_readout	# number of accumulated frames in timespan
+int16 gyro_temperature	# Temperature * 100 in centi-degrees Celsius
+uint8 quality	# Average of quality of accumulated frames, 0: bad quality, 255: maximum quality
+

msg/range_finder.msg

@@ -0,0 +1,13 @@
+int16 RANGE_FINDER_TYPE_LASER = 0
+
+# range finder report structure.  Reads from the device must be in multiples of this
+# structure.
+uint64 timestamp
+uint64 error_count
+uint16 type				# type, following RANGE_FINDER_TYPE enum 
+float32 distance			# in meters
+float32 minimum_distance			# minimum distance the sensor can measure
+float32 maximum_distance			# maximum distance the sensor can measure
+uint8 valid				# 1 == within sensor range, 0 = outside sensor range
+float32[12] distance_vector # in meters length should match MB12XX_MAX_RANGEFINDERS
+uint8 just_updated # number of the most recent measurement sensor

msg/sensor_combined.msg

@@ -0,0 +1,100 @@
+# Definition of the sensor_combined uORB topic.
+
+int32 MAGNETOMETER_MODE_NORMAL = 0
+int32 MAGNETOMETER_MODE_POSITIVE_BIAS = 1
+int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2
+
+# Sensor readings in raw and SI-unit form.
+#
+# These values are read from the sensors. Raw values are in sensor-specific units,
+# the scaled values are in SI-units, as visible from the ending of the variable
+# or the comments. The use of the SI fields is in general advised, as these fields
+# are scaled and offset-compensated where possible and do not change with board
+# revisions and sensor updates.
+#
+# Actual data, this is specific to the type of data which is stored in this struct
+# A line containing L0GME will be added by the Python logging code generator to the logged dataset.
+#
+# NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only
+
+uint64 timestamp			# Timestamp in microseconds since boot, from gyro
+#
+int16[3] gyro_raw			# Raw sensor values of angular velocity
+float32[3] gyro_rad_s			# Angular velocity in radian per seconds
+uint32 gyro_errcount			# Error counter for gyro 0
+float32 gyro_temp			# Temperature of gyro 0
+
+int16[3] accelerometer_raw		# Raw acceleration in NED body frame
+float32[3] accelerometer_m_s2		# Acceleration in NED body frame, in m/s^2
+int16 accelerometer_mode			# Accelerometer measurement mode
+float32 accelerometer_range_m_s2		# Accelerometer measurement range in m/s^2
+uint64 accelerometer_timestamp	# Accelerometer timestamp
+uint32 accelerometer_errcount	# Error counter for accel 0
+float32 accelerometer_temp		# Temperature of accel 0
+
+int16[3] magnetometer_raw		# Raw magnetic field in NED body frame
+float32[3] magnetometer_ga		# Magnetic field in NED body frame, in Gauss
+int16 magnetometer_mode			# Magnetometer measurement mode
+float32 magnetometer_range_ga		# measurement range in Gauss
+float32 magnetometer_cuttoff_freq_hz	# Internal analog low pass frequency of sensor
+uint64 magnetometer_timestamp	# Magnetometer timestamp
+uint32 magnetometer_errcount		# Error counter for mag 0
+float32 magnetometer_temp		# Temperature of mag 0
+
+int16[3] gyro1_raw			# Raw sensor values of angular velocity
+float32[3] gyro1_rad_s			# Angular velocity in radian per seconds
+uint64 gyro1_timestamp		# Gyro timestamp
+uint32 gyro1_errcount		# Error counter for gyro 1
+float32 gyro1_temp			# Temperature of gyro 1
+
+int16[3] accelerometer1_raw		# Raw acceleration in NED body frame
+float32[3] accelerometer1_m_s2		# Acceleration in NED body frame, in m/s^2
+uint64 accelerometer1_timestamp	# Accelerometer timestamp
+uint32 accelerometer1_errcount	# Error counter for accel 1
+float32 accelerometer1_temp		# Temperature of accel 1
+
+int16[3] magnetometer1_raw		# Raw magnetic field in NED body frame
+float32[3] magnetometer1_ga		# Magnetic field in NED body frame, in Gauss
+uint64 magnetometer1_timestamp	# Magnetometer timestamp
+uint32 magnetometer1_errcount	# Error counter for mag 1
+float32 magnetometer1_temp		# Temperature of mag 1
+
+int16[3] gyro2_raw			# Raw sensor values of angular velocity
+float32[3] gyro2_rad_s			# Angular velocity in radian per seconds
+uint64 gyro2_timestamp		# Gyro timestamp
+uint32 gyro2_errcount		# Error counter for gyro 1
+float32 gyro2_temp			# Temperature of gyro 1
+
+int16[3] accelerometer2_raw		# Raw acceleration in NED body frame
+float32[3] accelerometer2_m_s2		# Acceleration in NED body frame, in m/s^2
+uint64 accelerometer2_timestamp	# Accelerometer timestamp
+uint32 accelerometer2_errcount	# Error counter for accel 2
+float32 accelerometer2_temp		# Temperature of accel 2
+
+int16[3] magnetometer2_raw		# Raw magnetic field in NED body frame
+float32[3] magnetometer2_ga		# Magnetic field in NED body frame, in Gauss
+uint64 magnetometer2_timestamp	# Magnetometer timestamp
+uint32 magnetometer2_errcount	# Error counter for mag 2
+float32 magnetometer2_temp		# Temperature of mag 2
+
+float32 baro_pres_mbar			# Barometric pressure, already temp. comp.
+float32 baro_alt_meter			# Altitude, already temp. comp.
+float32 baro_temp_celcius		# Temperature in degrees celsius
+uint64 baro_timestamp		# Barometer timestamp
+
+float32 baro1_pres_mbar			# Barometric pressure, already temp. comp.
+float32 baro1_alt_meter			# Altitude, already temp. comp.
+float32 baro1_temp_celcius		# Temperature in degrees celsius
+uint64 baro1_timestamp		# Barometer timestamp
+
+float32[10] adc_voltage_v		# ADC voltages of ADC Chan 10/11/12/13 or -1
+uint16[10] adc_mapping		# Channel indices of each of these values
+float32 mcu_temp_celcius			# Internal temperature measurement of MCU
+
+float32 differential_pressure_pa			# Airspeed sensor differential pressure
+uint64 differential_pressure_timestamp	# Last measurement timestamp
+float32 differential_pressure_filtered_pa	# Low pass filtered airspeed sensor differential pressure reading
+
+float32 differential_pressure1_pa			# Airspeed sensor differential pressure
+uint64 differential_pressure1_timestamp	# Last measurement timestamp
+float32 differential_pressure1_filtered_pa	# Low pass filtered airspeed sensor differential pressure reading

msg/vehicle_global_position.msg

@@ -0,0 +1,20 @@
+# Fused global position in WGS84.
+# This struct contains global position estimation. It is not the raw GPS
+# measurement (@see vehicle_gps_position). This topic is usually published by the position
+# estimator, which will take more sources of information into account than just GPS,
+# e.g. control inputs of the vehicle in a Kalman-filter implementation.
+#
+uint64 timestamp		# Time of this estimate, in microseconds since system start
+uint64 time_utc_usec		# GPS UTC timestamp in microseconds
+float64 lat			# Latitude in degrees
+float64 lon			# Longitude in degrees
+float32 alt			# Altitude AMSL in meters
+float32 vel_n			# Ground north velocity, m/s
+float32 vel_e			# Ground east velocity, m/s
+float32 vel_d			# Ground downside velocity, m/s
+float32 yaw 			# Yaw in radians -PI..+PI.
+float32 eph			# Standard deviation of position estimate horizontally
+float32 epv			# Standard deviation of position vertically
+float32 terrain_alt		# Terrain altitude in m, WGS84
+bool terrain_alt_valid		# Terrain altitude estimate is valid
+bool dead_reckoning		# True if this position is estimated through dead-reckoning

msg/vehicle_gps_position.msg

@@ -0,0 +1,29 @@
+# GPS position in WGS84 coordinates.
+uint64 timestamp_position	# Timestamp for position information 
+int32 lat			# Latitude in 1E-7 degrees 
+int32 lon			# Longitude in 1E-7 degrees 
+int32 alt			# Altitude in 1E-3 meters (millimeters) above MSL  
+
+uint64 timestamp_variance
+float32 s_variance_m_s		# speed accuracy estimate m/s 
+float32 c_variance_rad		# course accuracy estimate rad 
+uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   
+
+float32 eph			# GPS HDOP horizontal dilution of position in m 
+float32 epv			# GPS VDOP horizontal dilution of position in m 
+
+int32 noise_per_ms		# GPS noise per millisecond
+int32 jamming_indicator		# indicates jamming is occurring
+
+uint64 timestamp_velocity	# Timestamp for velocity informations 
+float32 vel_m_s			# GPS ground speed (m/s) 
+float32 vel_n_m_s		# GPS ground speed in m/s 
+float32 vel_e_m_s		# GPS ground speed in m/s 
+float32 vel_d_m_s		# GPS ground speed in m/s 
+float32 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 timestamp_time		# Timestamp for time information 
+uint64 time_utc_usec		# Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 
+
+uint8 satellites_used		# Number of satellites used 

src/drivers/drv_range_finder.h

@@ -48,39 +48,14 @@
 #define RANGE_FINDER0_DEVICE_PATH	"/dev/range_finder0"
 #define MB12XX_MAX_RANGEFINDERS	12	//Maximum number of RangeFinders that can be connected
 
-enum RANGE_FINDER_TYPE {
+#define range_finder_report range_finder_s
-	RANGE_FINDER_TYPE_LASER = 0,
+#define __orb_sensor_range_finder __orb_range_finder
-};
 
-/**
+#include <uORB/topics/range_finder.h>
- * @addtogroup topics
- * @{
- */
 
-/**
+#ifndef RANGE_FINDER_TYPE_LASER
- * range finder report structure.  Reads from the device must be in multiples of this
+#define RANGE_FINDER_TYPE_LASER 0
- * structure.
+#endif
- */
-struct range_finder_report {
-	uint64_t timestamp;
-	uint64_t error_count;
-	unsigned type;				/**< type, following RANGE_FINDER_TYPE enum */
-	float distance; 			/**< in meters */
-	float minimum_distance;			/**< minimum distance the sensor can measure */
-	float maximum_distance;			/**< maximum distance the sensor can measure */
-	uint8_t valid;				/**< 1 == within sensor range, 0 = outside sensor range */
-	float distance_vector[MB12XX_MAX_RANGEFINDERS]; /** in meters */
-	uint8_t just_updated;			/** number of the most recent measurement sensor */
-};
-
-/**
- * @}
- */
-
-/*
- * ObjDev tag for raw range finder data.
- */
-ORB_DECLARE(sensor_range_finder);
 
 /*
  * ioctl() definitions

src/drivers/sf0x/sf0x.cpp

@@ -260,32 +260,37 @@ SF0X::~SF0X()
 int
 SF0X::init()
 {
-	/* do regular cdev init */
+	/* status */
-	if (CDev::init() != OK) {
+	int ret = 0;
-		goto out;
-	}
 
-	/* allocate basic report buffers */
+	do { /* create a scope to handle exit conditions using break */
-	_reports = new RingBuffer(2, sizeof(range_finder_report));
 
-	if (_reports == nullptr) {
+		/* do regular cdev init */
-		warnx("mem err");
+		ret = CDev::init();
-		goto out;
+		if (ret != OK) break;
-	}
 
-	/* get a publish handle on the range finder topic */
+		/* allocate basic report buffers */
-	struct range_finder_report zero_report;
+		_reports = new RingBuffer(2, sizeof(range_finder_report));
-	memset(&zero_report, 0, sizeof(zero_report));
+		if (_reports == nullptr) {
-	_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
+			warnx("mem err");
+			ret = -1;
+			break;
+		}
 
-	if (_range_finder_topic < 0) {
+		/* get a publish handle on the range finder topic */
-		warnx("advert err");
+		struct range_finder_report zero_report;
-	}
+		memset(&zero_report, 0, sizeof(zero_report));
+		_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
+
+		if (_range_finder_topic < 0) {
+			warnx("advert err");
+		}
+	} while(0);
 
 	/* close the fd */
 	::close(_fd);
 	_fd = -1;
-out:
+
 	return OK;
 }
 

src/include/containers/List.hpp

@@ -45,6 +45,7 @@ class __EXPORT ListNode
 public:
 	ListNode() : _sibling(nullptr) {
 	}
+	virtual ~ListNode() {};
 	void setSibling(T sibling) { _sibling = sibling; }
 	T getSibling() { return _sibling; }
 	T get() {
@@ -52,6 +53,11 @@ public:
 	}
 protected:
 	T _sibling;
+private:
+	// forbid copy
+	ListNode(const ListNode& other);
+	// forbid assignment
+	ListNode & operator = (const ListNode &);
 };
 
 template<class T>
@@ -60,12 +66,18 @@ class __EXPORT List
 public:
 	List() : _head() {
 	}
+	virtual ~List() {};
 	void add(T newNode) {
 		newNode->setSibling(getHead());
 		setHead(newNode);
 	}
 	T getHead() { return _head; }
-private:
+protected:
 	void setHead(T &head) { _head = head; }
 	T _head;
+private:
+	// forbid copy
+	List(const List& other);
+	// forbid assignment
+	List& operator = (const List &);
 };

src/modules/commander/accelerometer_calibration.cpp

@@ -570,6 +570,12 @@ int do_level_calibration(int mavlink_fd) {
 	param_t roll_offset_handler = param_find("SENS_BOARD_X_OFF");
 	param_t pitch_offset_handler = param_find("SENS_BOARD_Y_OFF");
 
+	// save old values if calibration fails
+	float roll_offset_current;
+	float pitch_offset_current;
+	param_get(roll_offset_handler, &roll_offset_current);
+	param_get(pitch_offset_handler, &pitch_offset_current);
+
 	float zero = 0.0f;
 	param_set(roll_offset_handler, &zero);
 	param_set(pitch_offset_handler, &zero);
@@ -602,28 +608,34 @@ int do_level_calibration(int mavlink_fd) {
 
 	mavlink_and_console_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, 100);
 
+	bool success = false;
 	if (counter > (cal_time * cal_hz / 2 )) {
 		roll_mean /= counter;
 		pitch_mean /= counter;
 	} else {
 		mavlink_and_console_log_info(mavlink_fd, "not enough measurements taken");
-		return 1;
 	}
 
 	if (fabsf(roll_mean) > 0.8f ) {
 		mavlink_and_console_log_critical(mavlink_fd, "excess roll angle");
-		return 1;
 	} else if (fabsf(pitch_mean) > 0.8f ) {
 		mavlink_and_console_log_critical(mavlink_fd, "excess pitch angle");
-		return 1;
+	} else {
-	}
-	else {
 		roll_mean *= (float)M_RAD_TO_DEG;
 		pitch_mean *= (float)M_RAD_TO_DEG;
 		param_set(roll_offset_handler, &roll_mean);
 		param_set(pitch_offset_handler, &pitch_mean);
+		success = true;
 	}
-	mavlink_and_console_log_info(mavlink_fd, CAL_QGC_DONE_MSG, "level");
-	return 0;
 
+	if (success) {
+		mavlink_and_console_log_info(mavlink_fd, CAL_QGC_DONE_MSG, "level");
+		return 0;
+	} else {
+		// set old parameters
+		param_set(roll_offset_handler, &roll_offset_current);
+		param_set(pitch_offset_handler, &pitch_offset_current);
+		mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "level");
+		return 1;
+	}
 }

src/modules/controllib/block/Block.cpp

@@ -208,4 +208,9 @@ void SuperBlock::updateChildPublications()
 	}
 }
 
+
 } // namespace control
+
+template class List<uORB::SubscriptionNode *>;
+template class List<uORB::PublicationNode *>;
+template class List<control::BlockParamBase *>;

src/modules/controllib/block/Block.hpp

@@ -43,12 +43,9 @@
 #include <inttypes.h>
 
 #include <containers/List.hpp>
-
+#include <uORB/Publication.hpp>
-// forward declaration
+#include <uORB/Subscription.hpp>
-namespace uORB {
+#include <controllib/block/BlockParam.hpp>
-	class SubscriptionNode;
-	class PublicationNode;
-}
 
 namespace control
 {
@@ -60,8 +57,8 @@ static const uint16_t maxPublicationsPerBlock = 100;
 static const uint8_t blockNameLengthMax = 80;
 
 // forward declaration
-class BlockParamBase;
 class SuperBlock;
+class BlockParamBase;
 
 /**
  */
@@ -137,4 +134,5 @@ protected:
 	List<Block *> _children;
 };
 
+
 } // namespace control

src/modules/controllib/block/BlockParam.cpp

@@ -43,6 +43,8 @@
 
 #include "BlockParam.hpp"
 
+#include <containers/List.hpp>
+
 namespace control
 {
 

src/modules/controllib/block/BlockParam.hpp

@@ -47,6 +47,8 @@
 namespace control
 {
 
+class Block;
+
 /**
  * A base class for block params that enables traversing linked list.
  */

src/modules/controllib/uorb/blocks.cpp

@@ -38,6 +38,7 @@
  */
 
 #include "blocks.hpp"
+#include <geo/geo.h>
 
 namespace control
 {

src/modules/controllib/uorb/blocks.hpp

@@ -61,10 +61,6 @@
 #include <drivers/drv_hrt.h>
 #include <poll.h>
 
-extern "C" {
-#include <geo/geo.h>
-}
-
 #include "../blocks.hpp"
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>

src/modules/sensors/sensors.cpp

@@ -2070,35 +2070,25 @@ Sensors::task_main()
 {
 
 	/* start individual sensors */
-	int ret;
+	int ret = 0;
-	ret = accel_init();
+	do { /* create a scope to handle exit with break */
+		ret = accel_init();
+		if (ret) break;
+		ret = gyro_init();
+		if (ret) break;
+		ret = mag_init();
+		if (ret) break;
+		ret = baro_init();
+		if (ret) break;
+		ret = adc_init();
+		if (ret) break;
+		break;
+	} while (0);
 
 	if (ret) {
-		goto exit_immediate;
+		_sensors_task = -1;
-	}
+		_exit(ret);
-
+		return;
-	ret = gyro_init();
-
-	if (ret) {
-		goto exit_immediate;
-	}
-
-	ret = mag_init();
-
-	if (ret) {
-		goto exit_immediate;
-	}
-
-	ret = baro_init();
-
-	if (ret) {
-		goto exit_immediate;
-	}
-
-	ret = adc_init();
-
-	if (ret) {
-		goto exit_immediate;
 	}
 
 	/*
@@ -2241,8 +2231,6 @@ Sensors::task_main()
 	}
 
 	warnx("exiting.");
-
-exit_immediate:
 	_sensors_task = -1;
 	px4_task_exit(ret);
 }

src/modules/uORB/Publication.cpp

@@ -69,6 +69,14 @@ void * Publication<T>::getDataVoidPtr() {
 	return (void *)(T *)(this);
 }
 
+
+PublicationNode::PublicationNode(const struct orb_metadata *meta,
+	List<PublicationNode *> * list) :
+		PublicationBase(meta) {
+		if (list != nullptr) list->add(this);
+}
+	
+
 template class __EXPORT Publication<vehicle_attitude_s>;
 template class __EXPORT Publication<vehicle_local_position_s>;
 template class __EXPORT Publication<vehicle_global_position_s>;

src/modules/uORB/Publication.hpp

@@ -94,6 +94,11 @@ protected:
 // attributes
 	const struct orb_metadata *_meta;
 	orb_advert_t _handle;
+private:
+	// forbid copy
+	PublicationBase(const PublicationBase&) : _meta(), _handle() {};
+	// forbid assignment
+	PublicationBase& operator = (const PublicationBase &);
 };
 
 /**
@@ -120,10 +125,7 @@ public:
 	 * 	that this should be appended to.
 	 */
 	PublicationNode(const struct orb_metadata *meta,
-		List<PublicationNode *> * list=nullptr) :
+		List<PublicationNode *> * list=nullptr);
-		PublicationBase(meta) {
-		if (list != nullptr) list->add(this);
-	}
 
 	/**
 	 * This function is the callback for list traversal
@@ -136,7 +138,7 @@ public:
  * Publication wrapper class
  */
 template<class T>
-class Publication :
+class __EXPORT Publication :
 	public T, // this must be first!
 	public PublicationNode
 {

src/modules/uORB/Subscription.cpp

@@ -53,6 +53,8 @@
 #include "topics/vehicle_attitude_setpoint.h"
 #include "topics/vehicle_rates_setpoint.h"
 #include "topics/rc_channels.h"
+#include "topics/vehicle_control_mode.h"
+#include "topics/actuator_armed.h"
 
 namespace uORB
 {

src/modules/uORB/Subscription.hpp

@@ -106,6 +106,11 @@ protected:
 // attributes
 	const struct orb_metadata *_meta;
 	int _handle;
+private:
+	// forbid copy
+	SubscriptionBase(const SubscriptionBase& other);
+	// forbid assignment
+	SubscriptionBase& operator = (const SubscriptionBase &);
 };
 
 /**

src/modules/uORB/topics/filtered_bottom_flow.h

@@ -1,73 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
- *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
- *   		 Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file filtered_bottom_flow.h
- * Definition of the filtered bottom flow uORB topic.
- */
-
-#ifndef TOPIC_FILTERED_BOTTOM_FLOW_H_
-#define TOPIC_FILTERED_BOTTOM_FLOW_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Filtered bottom flow in bodyframe.
- */
-struct filtered_bottom_flow_s {
-	uint64_t timestamp;		/**< time of this estimate, in microseconds since system start */
-
-	float sumx;				/**< Integrated bodyframe x flow in meters					   */
-	float sumy;				/**< Integrated bodyframe y flow in meters			   		   */
-
-	float vx; 				/**< Flow bodyframe x speed, m/s							   */
-	float vy;				/**< Flow bodyframe y Speed, m/s 							   */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(filtered_bottom_flow);
-
-#endif

src/modules/uORB/topics/home_position.h

@@ -1,77 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file home_position.h
- * Definition of the home position uORB topic.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- */
-
-#ifndef TOPIC_HOME_POSITION_H_
-#define TOPIC_HOME_POSITION_H_
-
-#include <stdint.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * GPS home position in WGS84 coordinates.
- */
-struct home_position_s {
-	uint64_t timestamp;			/**< Timestamp (microseconds since system boot)	*/
-
-	double lat;				/**< Latitude in degrees 			*/
-	double lon;				/**< Longitude in degrees			*/
-	float alt;				/**< Altitude in meters	(AMSL)		*/
-
-	float x;				/**< X coordinate in meters			*/
-	float y;				/**< Y coordinate in meters			*/
-	float z;				/**< Z coordinate in meters			*/
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(home_position);
-
-#endif

src/modules/uORB/topics/optical_flow.h

@@ -1,84 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file optical_flow.h
- * Definition of the optical flow uORB topic.
- */
-
-#ifndef TOPIC_OPTICAL_FLOW_H_
-#define TOPIC_OPTICAL_FLOW_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- */
-
-/**
- * Optical flow in NED body frame in SI units.
- *
- * @see http://en.wikipedia.org/wiki/International_System_of_Units
- */
-struct optical_flow_s {
-
-	uint64_t timestamp;		/**< in microseconds since system start  */
-	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
-	float pixel_flow_x_integral; /**< accumulated optical flow in radians around x axis */
-	float pixel_flow_y_integral; /**< accumulated optical flow in radians around y axis */
-	float gyro_x_rate_integral;	 /**< accumulated gyro value in radians around x axis */
-	float gyro_y_rate_integral;  /**< accumulated gyro value in radians around y axis */
-	float gyro_z_rate_integral;   /**< accumulated gyro value in radians around z axis */
-	float ground_distance_m;	 /**< Altitude / distance to ground in meters */
-	uint32_t integration_timespan; /**<accumulation timespan in microseconds     */
-	uint32_t time_since_last_sonar_update;/**< time since last sonar update in microseconds */
-	uint16_t frame_count_since_last_readout;/**< number of accumulated frames in timespan */
-	int16_t gyro_temperature;/**< 	Temperature * 100 in centi-degrees Celsius */
-	uint8_t	quality;		/**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */
-
-
-
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(optical_flow);
-
-#endif

src/modules/uORB/topics/sensor_combined.h

@@ -1,172 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file sensor_combined.h
- * Definition of the sensor_combined uORB topic.
- *
- * @author Thomas Gubler <thomas@px4.io>
- * @author Julian Oes <julian@px4.io>
- * @author Lorenz Meier <lorenz@px4.io>
- */
-
-#ifndef SENSOR_COMBINED_H_
-#define SENSOR_COMBINED_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-enum MAGNETOMETER_MODE {
-	MAGNETOMETER_MODE_NORMAL = 0,
-	MAGNETOMETER_MODE_POSITIVE_BIAS,
-	MAGNETOMETER_MODE_NEGATIVE_BIAS
-};
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Sensor readings in raw and SI-unit form.
- *
- * These values are read from the sensors. Raw values are in sensor-specific units,
- * the scaled values are in SI-units, as visible from the ending of the variable
- * or the comments. The use of the SI fields is in general advised, as these fields
- * are scaled and offset-compensated where possible and do not change with board
- * revisions and sensor updates.
- *
- */
-struct sensor_combined_s {
-
-	/*
-	 * Actual data, this is specific to the type of data which is stored in this struct
-	 * A line containing L0GME will be added by the Python logging code generator to the
-	 * logged dataset.
-	 */
-
-	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only   */
-
-	uint64_t timestamp;			/**< Timestamp in microseconds since boot, from gyro         */
-
-	int16_t	gyro_raw[3];			/**< Raw sensor values of angular velocity        */
-	float gyro_rad_s[3];			/**< Angular velocity in radian per seconds       */
-	unsigned gyro_errcount;			/**< Error counter for gyro 0 */
-	float gyro_temp;			/**< Temperature of gyro 0 */
-
-	int16_t accelerometer_raw[3];		/**< Raw acceleration in NED body frame           */
-	float accelerometer_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
-	int accelerometer_mode;			/**< Accelerometer measurement mode */
-	float accelerometer_range_m_s2;		/**< Accelerometer measurement range in m/s^2 */
-	uint64_t accelerometer_timestamp;	/**< Accelerometer timestamp        */
-	unsigned accelerometer_errcount;	/**< Error counter for accel 0 */
-	float accelerometer_temp;		/**< Temperature of accel 0 */
-
-	int16_t	magnetometer_raw[3];		/**< Raw magnetic field in NED body frame         */
-	float magnetometer_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
-	int magnetometer_mode;			/**< Magnetometer measurement mode */
-	float magnetometer_range_ga;		/**< ± measurement range in Gauss */
-	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */
-	uint64_t magnetometer_timestamp;	/**< Magnetometer timestamp         */
-	unsigned magnetometer_errcount;		/**< Error counter for mag 0 */
-	float magnetometer_temp;		/**< Temperature of mag 0 */
-
-	int16_t	gyro1_raw[3];			/**< Raw sensor values of angular velocity        */
-	float gyro1_rad_s[3];			/**< Angular velocity in radian per seconds       */
-	uint64_t gyro1_timestamp;		/**< Gyro timestamp */
-	unsigned gyro1_errcount;		/**< Error counter for gyro 1 */
-	float gyro1_temp;			/**< Temperature of gyro 1 */
-
-	int16_t accelerometer1_raw[3];		/**< Raw acceleration in NED body frame           */
-	float accelerometer1_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
-	uint64_t accelerometer1_timestamp;	/**< Accelerometer timestamp        */
-	unsigned accelerometer1_errcount;	/**< Error counter for accel 1 */
-	float accelerometer1_temp;		/**< Temperature of accel 1 */
-
-	int16_t	magnetometer1_raw[3];		/**< Raw magnetic field in NED body frame         */
-	float magnetometer1_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
-	uint64_t magnetometer1_timestamp;	/**< Magnetometer timestamp         */
-	unsigned magnetometer1_errcount;	/**< Error counter for mag 1 */
-	float magnetometer1_temp;		/**< Temperature of mag 1 */
-
-	int16_t	gyro2_raw[3];			/**< Raw sensor values of angular velocity        */
-	float gyro2_rad_s[3];			/**< Angular velocity in radian per seconds       */
-	uint64_t gyro2_timestamp;		/**< Gyro timestamp */
-	unsigned gyro2_errcount;		/**< Error counter for gyro 1 */
-	float gyro2_temp;			/**< Temperature of gyro 1 */
-
-	int16_t accelerometer2_raw[3];		/**< Raw acceleration in NED body frame           */
-	float accelerometer2_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
-	uint64_t accelerometer2_timestamp;	/**< Accelerometer timestamp        */
-	unsigned accelerometer2_errcount;	/**< Error counter for accel 2 */
-	float accelerometer2_temp;		/**< Temperature of accel 2 */
-
-	int16_t	magnetometer2_raw[3];		/**< Raw magnetic field in NED body frame         */
-	float magnetometer2_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
-	uint64_t magnetometer2_timestamp;	/**< Magnetometer timestamp         */
-	unsigned magnetometer2_errcount;	/**< Error counter for mag 2 */
-	float magnetometer2_temp;		/**< Temperature of mag 2 */
-
-	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
-	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
-	float baro_temp_celcius;		/**< Temperature in degrees celsius               */
-	uint64_t baro_timestamp;		/**< Barometer timestamp        */
-
-	float baro1_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
-	float baro1_alt_meter;			/**< Altitude, already temp. comp.                */
-	float baro1_temp_celcius;		/**< Temperature in degrees celsius               */
-	uint64_t baro1_timestamp;		/**< Barometer timestamp        */
-
-	float adc_voltage_v[10];		/**< ADC voltages of ADC Chan 10/11/12/13 or -1   */
-	unsigned adc_mapping[10];		/**< Channel indices of each of these values */
-	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
-
-	float differential_pressure_pa;			/**< Airspeed sensor differential pressure */
-	uint64_t differential_pressure_timestamp;	/**< Last measurement timestamp */
-	float differential_pressure_filtered_pa;	/**< Low pass filtered airspeed sensor differential pressure reading */
-
-	float differential_pressure1_pa;			/**< Airspeed sensor differential pressure */
-	uint64_t differential_pressure1_timestamp;	/**< Last measurement timestamp */
-	float differential_pressure1_filtered_pa;	/**< Low pass filtered airspeed sensor differential pressure reading */
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(sensor_combined);
-
-#endif

src/modules/uORB/topics/vehicle_global_position.h

@@ -1,87 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_global_position.h
- * Definition of the global fused WGS84 position uORB topic.
- *
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <julian@oes.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#ifndef VEHICLE_GLOBAL_POSITION_T_H_
-#define VEHICLE_GLOBAL_POSITION_T_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <platforms/px4_defines.h>
-
-/**
- * @addtogroup topics
- * @{
- */
-
- /**
- * Fused global position in WGS84.
- *
- * This struct contains global position estimation. It is not the raw GPS
- * measurement (@see vehicle_gps_position). This topic is usually published by the position
- * estimator, which will take more sources of information into account than just GPS,
- * e.g. control inputs of the vehicle in a Kalman-filter implementation.
- */
-struct vehicle_global_position_s {
-	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start		*/
-	uint64_t time_utc_usec;		/**< GPS UTC timestamp in microseconds					   */
-	double lat;			/**< Latitude in degrees							 	   */
-	double lon;			/**< Longitude in degrees							 	   */
-	float alt;			/**< Altitude AMSL in meters						 	   */
-	float vel_n; 			/**< Ground north velocity, m/s				 			   */
-	float vel_e;			/**< Ground east velocity, m/s							   */
-	float vel_d;			/**< Ground downside velocity, m/s						   */
-	float yaw; 			/**< Yaw in radians -PI..+PI.							   */
-	float eph;			/**< Standard deviation of position estimate horizontally */
-	float epv;			/**< Standard deviation of position vertically */
-	float terrain_alt;		/**< Terrain altitude in m, WGS84 */
-	bool terrain_alt_valid;		/**< Terrain altitude estimate is valid */
-	bool dead_reckoning;		/**< True if this position is estimated through dead-reckoning*/
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_global_position);
-
-#endif

src/modules/uORB/topics/vehicle_gps_position.h

@@ -1,94 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_gps_position.h
- * Definition of the GPS WGS84 uORB topic.
- */
-
-#ifndef TOPIC_VEHICLE_GPS_H_
-#define TOPIC_VEHICLE_GPS_H_
-
-#include <stdint.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * GPS position in WGS84 coordinates.
- */
-struct vehicle_gps_position_s {
-	uint64_t timestamp_position;			/**< Timestamp for position information */
-	int32_t lat;					/**< Latitude in 1E-7 degrees */
-	int32_t lon;					/**< Longitude in 1E-7 degrees */
-	int32_t alt;					/**< Altitude in 1E-3 meters (millimeters) above MSL  */
-
-	uint64_t timestamp_variance;
-	float s_variance_m_s;				/**< speed accuracy estimate m/s */
-	float c_variance_rad;				/**< course accuracy estimate rad */
-	uint8_t fix_type; 				/**< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. 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;					/**< GPS HDOP horizontal dilution of position in m */
-	float epv;					/**< GPS VDOP horizontal dilution of position in m */
-
-	unsigned noise_per_ms;				/**< */
-	unsigned jamming_indicator;			/**< */
-
-	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_utc_usec;				/**< Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
-
-	uint8_t satellites_used;			/**< Number of satellites used */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_gps_position);
-
-#endif