AHRS: Making AHRS populate the NED/Vel fields of PositionActual. May rename object to PositionVelocityActual. Also created a GPSTime object which is populated from the GPRMC command. Also added a GPZDA parsing command, but by default OP GPS doesn't send this command. Made the computation of the world magnetic model use the current time to set the magnetic vector. Note: currently if you set your home location and save it to SD, this will not recompute the vector over time. I'm not sure how sensitive this is.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1435 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/Makefile

@@ -150,6 +150,7 @@ SRC += $(OPUAVOBJ)/examplesettings.c
 SRC += $(OPUAVOBJ)/objectpersistence.c
 SRC += $(OPUAVOBJ)/positionactual.c
 SRC += $(OPUAVOBJ)/gpsposition.c
+SRC += $(OPUAVOBJ)/gpstime.c
 SRC += $(OPUAVOBJ)/gcstelemetrystats.c
 SRC += $(OPUAVOBJ)/flighttelemetrystats.c
 SRC += $(OPUAVOBJ)/systemstats.c

flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c

@@ -59,6 +59,7 @@
 #include "baroaltitude.h"
 #include "stdbool.h"
 #include "gpsposition.h"
+#include "positionactual.h"
 #include "homelocation.h"
 #include "ahrscalibration.h"
 #include "CoordinateConversions.h"
@@ -393,55 +394,63 @@ static void load_baro_altitude(struct opahrs_msg_v1_req_update * update)
 
 static void load_gps_position(struct opahrs_msg_v1_req_update * update)
 {
-  GPSPositionData data;
+    GPSPositionData data;
-  GPSPositionGet(&data);
+    GPSPositionGet(&data);
-  HomeLocationData home;
+    HomeLocationData home;
-  HomeLocationGet(&home);
+    HomeLocationGet(&home);
-
+    
-  update->gps.updated = TRUE;
+    update->gps.updated = TRUE;
-
+    
-  if(home.RNE[0] == 0 && home.RNE[1] && home.RNE[2] == 0 && home.RNE[3] == 0) {
+    if(home.Set == HOMELOCATION_SET_FALSE) {
-    update->gps.NED[0] = 0;
+        PositionActualData pos;
-    update->gps.NED[1] = 0;
+        PositionActualGet(&pos);
-    update->gps.NED[2] = 0;
+        
-    update->gps.groundspeed = 0;
+        update->gps.NED[0] = pos.NED[0];
-    update->gps.heading = 0;
+        update->gps.NED[1] = pos.NED[1];
-    update->gps.quality = 0;
+        update->gps.NED[2] = pos.NED[2];
-  } else {
+        update->gps.groundspeed = 0;
-    update->gps.groundspeed = data.Groundspeed;
+        update->gps.heading = 0;
-    update->gps.heading = data.Heading;
+        update->gps.quality = 0;
-    update->gps.quality = 0;
+    } else {
-    double LLA[3] = {(double) data.Latitude / 1e7, (double) data.Longitude / 1e7, (double) data.Altitude};
+        update->gps.groundspeed = data.Groundspeed;
-    // convert from cm back to meters
+        update->gps.heading = data.Heading;
-    double ECEF[3] = {(double) (home.ECEF[0] / 100), (double) (home.ECEF[1] / 100), (double) (home.ECEF[2] / 100)};
+        update->gps.quality = 0;
-    LLA2Base(LLA, ECEF, (float (*)[3]) home.RNE, update->gps.NED);
+        double LLA[3] = {(double) data.Latitude / 1e7, (double) data.Longitude / 1e7, (double) (data.GeoidSeparation + data.Altitude)};
-  }
+        // convert from cm back to meters
-
+        double ECEF[3] = {(double) (home.ECEF[0] / 100), (double) (home.ECEF[1] / 100), (double) (home.ECEF[2] / 100)};
+        LLA2Base(LLA, ECEF, (float (*)[3]) home.RNE, update->gps.NED);
+    }
+    
 }
 
 static void process_update(struct opahrs_msg_v1_rsp_update * update)
 {
-  AttitudeActualData   data;
+    AttitudeActualData   data;
-
-  data.q1 = update->quaternion.q1;
-  data.q2 = update->quaternion.q2;
-  data.q3 = update->quaternion.q3;
-  data.q4 = update->quaternion.q4;
-  
-  float q[4] = {data.q1, data.q2, data.q3, data.q4};
-  float rpy[3];
-  Quaternion2RPY(q,rpy);
-  data.Roll    = rpy[0];
-  data.Pitch   = rpy[1];
-  data.Yaw     = rpy[2];
-  if(data.Yaw < 0) data.Yaw += 360;
     
-  AttitudeActualSet(&data);
+    data.q1 = update->quaternion.q1;
-  
+    data.q2 = update->quaternion.q2;
-  /*
+    data.q3 = update->quaternion.q3;
-   * update->NED[]
+    data.q4 = update->quaternion.q4;
-   * update->Vel[]
+    
-   */
+    float q[4] = {data.q1, data.q2, data.q3, data.q4};
+    float rpy[3];
+    Quaternion2RPY(q,rpy);
+    data.Roll    = rpy[0];
+    data.Pitch   = rpy[1];
+    data.Yaw     = rpy[2];
+    if(data.Yaw < 0) data.Yaw += 360;
+    
+    AttitudeActualSet(&data);
+    
+    PositionActualData pos;
+    PositionActualGet(&pos);    
+    pos.NED[0] = update->NED[0];
+    pos.NED[1] = update->NED[1];
+    pos.NED[2] = update->NED[2];
+    pos.Vel[0] = update->Vel[0];
+    pos.Vel[1] = update->Vel[1];
+    pos.Vel[2] = update->Vel[2];
+    PositionActualSet(&pos);
 }
 
 static void update_attitude_raw(struct opahrs_msg_v1_rsp_attituderaw * attituderaw)

flight/OpenPilot/Modules/GPS/GPS.c

@@ -35,6 +35,7 @@
 #include "NMEA.h"
 #include "gpsposition.h"
 #include "homelocation.h"
+#include "gpstime.h"
 #include "WorldMagModel.h"
 #include "CoordinateConversions.h"
 
@@ -236,30 +237,35 @@ static bool GPS_copy_sentence_from_cbuffer (char * dest, uint32_t dest_len, cBuf
 
 static void setHomeLocation(GPSPositionData * gpsData) 
 {
-  HomeLocationData home;
+    HomeLocationData home;
-  HomeLocationGet(&home);
+    HomeLocationGet(&home);
-  
+    GPSTimeData gps;
-  // Store LLA
+    GPSTimeGet(&gps);
-  home.Latitude  = gpsData->Latitude;
+    
-  home.Longitude = gpsData->Longitude;
+    if(gps.Year >= 2000)
-  home.Altitude  = gpsData->GeoidSeparation;
+    {
-  
+        // Store LLA
-  // Compute home ECEF coordinates and the rotation matrix into NED
+        home.Latitude  = gpsData->Latitude;
-  double LLA[3] = {(double) home.Latitude / 10e6, (double) home.Longitude / 10e6, (double) home.Altitude};
+        home.Longitude = gpsData->Longitude;
-  double ECEF[3];
+        home.Altitude  = gpsData->Altitude + gpsData->GeoidSeparation;
-  RneFromLLA(LLA, (float (*)[3]) home.RNE);
+        
-  LLA2ECEF(LLA, ECEF);
+        // Compute home ECEF coordinates and the rotation matrix into NED
-  // TODO: Currently UAVTalk only supports float but these conversions use double
+        double LLA[3] = {(double) home.Latitude / 10e6, (double) home.Longitude / 10e6, (double) home.Altitude};
-  // need to find out if they require that precision and if so extend UAVTAlk
+        double ECEF[3];
-  home.ECEF[0] = (int32_t) (ECEF[0] * 100);
+        RneFromLLA(LLA, (float (*)[3]) home.RNE);
-  home.ECEF[1] = (int32_t) (ECEF[1] * 100);
+        LLA2ECEF(LLA, ECEF);
-  home.ECEF[2] = (int32_t) (ECEF[2] * 100);
+        // TODO: Currently UAVTalk only supports float but these conversions use double
-  
+        // need to find out if they require that precision and if so extend UAVTAlk
-  // Compute magnetic flux direction at home location
+        home.ECEF[0] = (int32_t) (ECEF[0] * 100);
-  WMM_GetMagVector(LLA[0], LLA[1], LLA[2], 8, 17, 2010, &home.Be[0]);
+        home.ECEF[1] = (int32_t) (ECEF[1] * 100);
-  
+        home.ECEF[2] = (int32_t) (ECEF[2] * 100);
-  home.Set = HOMELOCATION_SET_TRUE;
+        
-  HomeLocationSet(&home);
+        // Compute magnetic flux direction at home location
+        WMM_GetMagVector(LLA[0], LLA[1], LLA[2], gps.Month, gps.Day, gps.Year, &home.Be[0]);
+        
+        home.Set = HOMELOCATION_SET_TRUE;
+        HomeLocationSet(&home);
+    }
 }
 
 

flight/OpenPilot/Modules/GPS/NMEA.c

@@ -2,6 +2,7 @@
 #include "pios.h"
 #include "NMEA.h"
 #include "gpsposition.h"
+#include "gpstime.h"
 
 // Debugging
 //#define GPSDEBUG
@@ -28,6 +29,7 @@ static bool nmeaProcessGPGGA (GPSPositionData * GpsData, char * sentence);
 static bool nmeaProcessGPRMC (GPSPositionData * GpsData, char * sentence);
 static bool nmeaProcessGPVTG (GPSPositionData * GpsData, char * sentence);
 static bool nmeaProcessGPGSA (GPSPositionData * GpsData, char * sentence);
+static bool nmeaProcessGPZDA (GPSPositionData * GpsData, char * sentence);
 
 static struct nmea_parser nmea_parsers[] = {
   {
@@ -46,6 +48,10 @@ static struct nmea_parser nmea_parsers[] = {
     .prefix  = "GPRMC",
     .handler = nmeaProcessGPRMC,
   },
+  {
+    .prefix  = "GPZDA",
+    .handler = nmeaProcessGPZDA,
+  },
 };
 
 
@@ -244,14 +250,20 @@ static bool nmeaProcessGPRMC (GPSPositionData * GpsData, char * sentence)
   char * next = sentence;
   char * tokens;
   char * delimiter = ",*";
+  GPSTimeData gpst;
+  GPSTimeGet(&gpst);
 
 #ifdef NMEA_DEBUG_RMC
   PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",sentence);
 #endif
   
   // get UTC time [hhmmss.sss]
-  tokens = strsep(&next, delimiter);
+  tokens = strsep(&next, delimiter);    
-  
+  float hms = NMEA_real_to_float(tokens);     
+  gpst.Second = (int) hms % 100; 
+  gpst.Minute  = (((int) hms - gpst.Second) / 100) % 100;
+  gpst.Hour = (int) hms / 10000;    
+    
   // next field: Navigation receiver warning A = OK, V = warning
   tokens = strsep(&next, delimiter);
 
@@ -293,7 +305,13 @@ static bool nmeaProcessGPRMC (GPSPositionData * GpsData, char * sentence)
   // next field: Date of fix
   // get Date of fix
   tokens = strsep(&next, delimiter);
-
+  // TODO: Should really not use a float here to be safe
+  float date = NMEA_real_to_float(tokens);     
+  gpst.Year = (int) date % 100; 
+  gpst.Month  = (((int) date - gpst.Year) / 100) % 100;
+  gpst.Day = (int) (date / 10000);    
+  gpst.Year += 2000;
+    
   // next field: Magnetic variation
   tokens = strsep(&next, delimiter);
 
@@ -305,7 +323,8 @@ static bool nmeaProcessGPRMC (GPSPositionData * GpsData, char * sentence)
 
   // next field: checksum
   tokens = strsep(&next, delimiter);
-
+    
+  GPSTimeSet(&gpst);
   return true;
 }
 
@@ -356,6 +375,45 @@ static bool nmeaProcessGPVTG (GPSPositionData * GpsData, char * sentence)
   return true;
 }
 
+/**
+ * Parse an NMEA GPZDA sentence and update the @ref GPSTime object
+ * \param[in] A pointer to a GPSPosition UAVObject to be updated (unused).
+ * \param[in] An NMEA sentence with a valid checksum
+ */
+static bool nmeaProcessGPZDA (GPSPositionData * GpsData, char * sentence)
+{
+    char * next = sentence;
+    char * tokens;
+    char * delimiter = ",*";
+    
+#ifdef NMEA_DEBUG_VTG
+    PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",sentence);
+#endif
+
+    GPSTimeData gpst;
+    GPSTimeGet(&gpst);
+
+    tokens = strsep(&next, delimiter);
+    float hms = NMEA_real_to_float(tokens);
+    
+	gpst.Second = (int) hms % 100;
+	gpst.Minute  = (((int) hms - gpst.Second) / 100) % 100;
+	gpst.Hour = (int) hms / 10000;
+
+    tokens = strsep(&next, delimiter);    
+    gpst.Day = (uint8_t) NMEA_real_to_float(next);
+    
+    tokens = strsep(&next, delimiter);    
+    gpst.Month = (uint8_t) NMEA_real_to_float(next);
+    
+    tokens = strsep(&next, delimiter);    
+    gpst.Year = (uint16_t) NMEA_real_to_float(next);
+    
+    GPSTimeSet(&gpst);
+
+    return true;
+}
+
 /**
  * Parse an NMEA GPGSA sentence and update the given UAVObject
  * \param[in] A pointer to a GPSPosition UAVObject to be updated.

flight/OpenPilot/UAVObjects/inc/positionactual.h

@@ -41,7 +41,7 @@
 #define POSITIONACTUAL_H
 
 // Object constants
-#define POSITIONACTUAL_OBJID 1265479538U
+#define POSITIONACTUAL_OBJID 2253458392U
 #define POSITIONACTUAL_NAME "PositionActual"
 #define POSITIONACTUAL_METANAME "PositionActualMeta"
 #define POSITIONACTUAL_ISSINGLEINST 1
@@ -82,6 +82,8 @@ typedef struct {
     float PDOP;
     float HDOP;
     float VDOP;
+    float NED[3];
+    float Vel[3];
 
 } __attribute__((packed)) PositionActualData;
 
@@ -99,6 +101,12 @@ typedef enum { POSITIONACTUAL_STATUS_NOGPS=0, POSITIONACTUAL_STATUS_NOFIX=1, POS
 // Field PDOP information
 // Field HDOP information
 // Field VDOP information
+// Field NED information
+/* Number of elements for field NED */
+#define POSITIONACTUAL_NED_NUMELEM 3
+// Field Vel information
+/* Number of elements for field Vel */
+#define POSITIONACTUAL_VEL_NUMELEM 3
 
 
 // Generic interface functions

flight/OpenPilot/UAVObjects/uavobjectsinit.c

@@ -46,6 +46,7 @@
 #include "flighttelemetrystats.h"
 #include "gcstelemetrystats.h"
 #include "gpsposition.h"
+#include "gpstime.h"
 #include "homelocation.h"
 #include "manualcontrolcommand.h"
 #include "manualcontrolsettings.h"
@@ -84,6 +85,7 @@ void UAVObjectsInitializeAll()
     FlightTelemetryStatsInitialize();
     GCSTelemetryStatsInitialize();
     GPSPositionInitialize();
+    GPSTimeInitialize();
     HomeLocationInitialize();
     ManualControlCommandInitialize();
     ManualControlSettingsInitialize();

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -22,6 +22,9 @@
 		651CF9F3120B700D00EEFD70 /* usb_conf.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = usb_conf.h; sourceTree = "<group>"; };
 		65209A1812208B0600453371 /* baroaltitude.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = baroaltitude.xml; sourceTree = "<group>"; };
 		65209A1912208B0600453371 /* gpsposition.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = gpsposition.xml; sourceTree = "<group>"; };
+		65322D2F12283CCD0046CD7C /* NMEA.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = NMEA.c; sourceTree = "<group>"; };
+		65322D3012283CD60046CD7C /* NMEA.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = NMEA.h; sourceTree = "<group>"; };
+		65322D3B122841F60046CD7C /* gpstime.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = gpstime.xml; sourceTree = "<group>"; };
 		654330231218E9780063F913 /* insgps.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = insgps.c; path = ../../AHRS/insgps.c; sourceTree = SOURCE_ROOT; };
 		6543304F121980300063F913 /* insgps.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = insgps.h; sourceTree = "<group>"; };
 		655268BC121FBD2900410C6E /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = "<group>"; };
@@ -2648,10 +2651,8 @@
 		65E8EF8211EEA61E00BBF654 /* actuatordesired.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = actuatordesired.h; path = ../../OpenPilot/UAVObjects/inc/actuatordesired.h; sourceTree = SOURCE_ROOT; };
 		65E8EF8311EEA61E00BBF654 /* actuatorsettings.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = actuatorsettings.h; path = ../../OpenPilot/UAVObjects/inc/actuatorsettings.h; sourceTree = SOURCE_ROOT; };
 		65E8EF8411EEA61E00BBF654 /* ahrsstatus.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = ahrsstatus.h; path = ../../OpenPilot/UAVObjects/inc/ahrsstatus.h; sourceTree = SOURCE_ROOT; };
-		65E8EF8511EEA61E00BBF654 /* altitudeactual.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = altitudeactual.h; path = ../../OpenPilot/UAVObjects/inc/altitudeactual.h; sourceTree = SOURCE_ROOT; };
 		65E8EF8611EEA61E00BBF654 /* attitudeactual.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = attitudeactual.h; path = ../../OpenPilot/UAVObjects/inc/attitudeactual.h; sourceTree = SOURCE_ROOT; };
 		65E8EF8711EEA61E00BBF654 /* attitudedesired.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = attitudedesired.h; path = ../../OpenPilot/UAVObjects/inc/attitudedesired.h; sourceTree = SOURCE_ROOT; };
-		65E8EF8811EEA61E00BBF654 /* attitudesettings.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = attitudesettings.h; path = ../../OpenPilot/UAVObjects/inc/attitudesettings.h; sourceTree = SOURCE_ROOT; };
 		65E8EF8911EEA61E00BBF654 /* eventdispatcher.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = eventdispatcher.h; path = ../../OpenPilot/UAVObjects/inc/eventdispatcher.h; sourceTree = SOURCE_ROOT; };
 		65E8EF8A11EEA61E00BBF654 /* exampleobject1.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = exampleobject1.h; path = ../../OpenPilot/UAVObjects/inc/exampleobject1.h; sourceTree = SOURCE_ROOT; };
 		65E8EF8B11EEA61E00BBF654 /* exampleobject2.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = exampleobject2.h; path = ../../OpenPilot/UAVObjects/inc/exampleobject2.h; sourceTree = SOURCE_ROOT; };
@@ -2659,7 +2660,6 @@
 		65E8EF8D11EEA61E00BBF654 /* flightbatterystate.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = flightbatterystate.h; path = ../../OpenPilot/UAVObjects/inc/flightbatterystate.h; sourceTree = SOURCE_ROOT; };
 		65E8EF8E11EEA61E00BBF654 /* flighttelemetrystats.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = flighttelemetrystats.h; path = ../../OpenPilot/UAVObjects/inc/flighttelemetrystats.h; sourceTree = SOURCE_ROOT; };
 		65E8EF8F11EEA61E00BBF654 /* gcstelemetrystats.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = gcstelemetrystats.h; path = ../../OpenPilot/UAVObjects/inc/gcstelemetrystats.h; sourceTree = SOURCE_ROOT; };
-		65E8EF9011EEA61E00BBF654 /* headingactual.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = headingactual.h; path = ../../OpenPilot/UAVObjects/inc/headingactual.h; sourceTree = SOURCE_ROOT; };
 		65E8EF9111EEA61E00BBF654 /* manualcontrolcommand.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = manualcontrolcommand.h; path = ../../OpenPilot/UAVObjects/inc/manualcontrolcommand.h; sourceTree = SOURCE_ROOT; };
 		65E8EF9211EEA61E00BBF654 /* manualcontrolsettings.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = manualcontrolsettings.h; path = ../../OpenPilot/UAVObjects/inc/manualcontrolsettings.h; sourceTree = SOURCE_ROOT; };
 		65E8EF9311EEA61E00BBF654 /* objectpersistence.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = objectpersistence.h; path = ../../OpenPilot/UAVObjects/inc/objectpersistence.h; sourceTree = SOURCE_ROOT; };
@@ -6687,6 +6687,7 @@
 				65B367F2121C2620003EAD18 /* flighttelemetrystats.xml */,
 				65B367F3121C2620003EAD18 /* gcstelemetrystats.xml */,
 				65209A1912208B0600453371 /* gpsposition.xml */,
+				65322D3B122841F60046CD7C /* gpstime.xml */,
 				657CEEAD121DB6C8007A1FBE /* homelocation.xml */,
 				65B367F4121C2620003EAD18 /* manualcontrolcommand.xml */,
 				65B367F5121C2620003EAD18 /* manualcontrolsettings.xml */,
@@ -6886,6 +6887,7 @@
 		65E8EF3D11EEA61E00BBF654 /* GPS */ = {
 			isa = PBXGroup;
 			children = (
+				65322D2F12283CCD0046CD7C /* NMEA.c */,
 				65E8EF3F11EEA61E00BBF654 /* GPS.c */,
 				65E8EF4011EEA61E00BBF654 /* inc */,
 			);
@@ -6896,6 +6898,7 @@
 		65E8EF4011EEA61E00BBF654 /* inc */ = {
 			isa = PBXGroup;
 			children = (
+				65322D3012283CD60046CD7C /* NMEA.h */,
 				65E8EF4211EEA61E00BBF654 /* GPS.h */,
 			);
 			name = inc;
@@ -7116,10 +7119,8 @@
 				65E8EF8211EEA61E00BBF654 /* actuatordesired.h */,
 				65E8EF8311EEA61E00BBF654 /* actuatorsettings.h */,
 				65E8EF8411EEA61E00BBF654 /* ahrsstatus.h */,
-				65E8EF8511EEA61E00BBF654 /* altitudeactual.h */,
 				65E8EF8611EEA61E00BBF654 /* attitudeactual.h */,
 				65E8EF8711EEA61E00BBF654 /* attitudedesired.h */,
-				65E8EF8811EEA61E00BBF654 /* attitudesettings.h */,
 				65E8EF8911EEA61E00BBF654 /* eventdispatcher.h */,
 				65E8EF8A11EEA61E00BBF654 /* exampleobject1.h */,
 				65E8EF8B11EEA61E00BBF654 /* exampleobject2.h */,
@@ -7127,7 +7128,6 @@
 				65E8EF8D11EEA61E00BBF654 /* flightbatterystate.h */,
 				65E8EF8E11EEA61E00BBF654 /* flighttelemetrystats.h */,
 				65E8EF8F11EEA61E00BBF654 /* gcstelemetrystats.h */,
-				65E8EF9011EEA61E00BBF654 /* headingactual.h */,
 				65E8EF9111EEA61E00BBF654 /* manualcontrolcommand.h */,
 				65E8EF9211EEA61E00BBF654 /* manualcontrolsettings.h */,
 				65E8EF9311EEA61E00BBF654 /* objectpersistence.h */,

ground/src/plugins/uavobjects/positionactual.cpp

@@ -80,6 +80,16 @@ PositionActual::PositionActual(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS,
     QStringList VDOPElemNames;
     VDOPElemNames.append("0");
     fields.append( new UAVObjectField(QString("VDOP"), QString(""), UAVObjectField::FLOAT32, VDOPElemNames, QStringList()) );
+    QStringList NEDElemNames;
+    NEDElemNames.append("0");
+    NEDElemNames.append("1");
+    NEDElemNames.append("2");
+    fields.append( new UAVObjectField(QString("NED"), QString("m"), UAVObjectField::FLOAT32, NEDElemNames, QStringList()) );
+    QStringList VelElemNames;
+    VelElemNames.append("0");
+    VelElemNames.append("1");
+    VelElemNames.append("2");
+    fields.append( new UAVObjectField(QString("Vel"), QString("m"), UAVObjectField::FLOAT32, VelElemNames, QStringList()) );
 
     // Initialize object
     initializeFields(fields, (quint8*)&data, NUMBYTES);

ground/src/plugins/uavobjects/positionactual.h

@@ -54,6 +54,8 @@ public:
         float PDOP;
         float HDOP;
         float VDOP;
+        float NED[3];
+        float Vel[3];
 
     } __attribute__((packed)) DataFields;
 
@@ -71,10 +73,16 @@ public:
     // Field PDOP information
     // Field HDOP information
     // Field VDOP information
+    // Field NED information
+    /* Number of elements for field NED */
+    static const quint32 NED_NUMELEM = 3;
+    // Field Vel information
+    /* Number of elements for field Vel */
+    static const quint32 VEL_NUMELEM = 3;
 
   
     // Constants
-    static const quint32 OBJID = 1265479538U;
+    static const quint32 OBJID = 2253458392U;
     static const QString NAME;
     static const bool ISSINGLEINST = 1;
     static const bool ISSETTINGS = 0;

ground/src/plugins/uavobjects/positionactual.py

@@ -151,12 +151,36 @@ _fields = [ \
 		{
 		}
 	),
+	uavobject.UAVObjectField(
+		'NED',
+		'f',
+		3,
+		[
+			'0',
+			'1',
+			'2',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'Vel',
+		'f',
+		3,
+		[
+			'0',
+			'1',
+			'2',
+		],
+		{
+		}
+	),
 ]
 
 
 class PositionActual(uavobject.UAVObject):
     ## Object constants
-    OBJID        = 1265479538
+    OBJID        = 2253458392
     NAME         = "PositionActual"
     METANAME     = "PositionActualMeta"
     ISSINGLEINST = 1

ground/src/plugins/uavobjects/uavobjects.pro

@@ -38,6 +38,7 @@ HEADERS += uavobjects_global.h \
     navigationsettings.h \
     navigationdesired.h \
     gpsposition.h \
+    gpstime.h \
     positionactual.h \
     flightbatterystate.h \
     homelocation.h
@@ -75,6 +76,7 @@ SOURCES += uavobject.cpp \
     navigationsettings.cpp \
     navigationdesired.cpp \
     gpsposition.cpp \
+    gpstime.cpp \
     positionactual.cpp \
     flightbatterystate.cpp \
     homelocation.cpp

ground/src/plugins/uavobjects/uavobjectsinit.cpp

@@ -48,6 +48,7 @@
 #include "flighttelemetrystats.h"
 #include "gcstelemetrystats.h"
 #include "gpsposition.h"
+#include "gpstime.h"
 #include "homelocation.h"
 #include "manualcontrolcommand.h"
 #include "manualcontrolsettings.h"
@@ -86,6 +87,7 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
     objMngr->registerObject( new FlightTelemetryStats() );
     objMngr->registerObject( new GCSTelemetryStats() );
     objMngr->registerObject( new GPSPosition() );
+    objMngr->registerObject( new GPSTime() );
     objMngr->registerObject( new HomeLocation() );
     objMngr->registerObject( new ManualControlCommand() );
     objMngr->registerObject( new ManualControlSettings() );

ground/src/shared/uavobjectdefinition/positionactual.xml

@@ -12,6 +12,8 @@
         <field name="PDOP" units="" type="float" elements="1"/>
         <field name="HDOP" units="" type="float" elements="1"/>
         <field name="VDOP" units="" type="float" elements="1"/>
+        <field name="NED" units="m" type="float" elements="3"/>
+        <field name="Vel" units="m" type="float" elements="3"/>        
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>