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 *   Author: Lorenz Meier <lm@inf.ethz.ch>
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 *    distribution.
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/**
 * @file home_position.h
 * Definition of the GPS home position uORB topic.
 *
 * @author Lorenz Meier <lm@inf.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)   */
	uint64_t time_gps_usec;         /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module   */
	
	int32_t lat;                    /**< Latitude in 1E7 degrees */
	int32_t lon;                    /**< Longitude in 1E7 degrees */
	int32_t alt;                    /**< Altitude in 1E3 meters (millimeters) above MSL */
	float eph_m;                   /**< GPS HDOP horizontal dilution of position in m */
	float epv_m;                   /**< GPS VDOP horizontal dilution of position in m */
	float s_variance_m_s;               /**< speed accuracy estimate m/s */
	float p_variance_m;               /**< position accuracy estimate m */
};

/**
 * @}
 */

/* register this as object request broker structure */
ORB_DECLARE(home_position);

#endif
