-
Notifications
You must be signed in to change notification settings - Fork 13.2k
/
SensorGps.msg
58 lines (44 loc) · 3.06 KB
/
SensorGps.msg
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
# GPS position in WGS84 coordinates.
# the field 'timestamp' is for the position & velocity (microseconds)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint32 device_id # unique device ID for the sensor that does not change between power cycles
int32 lat # Latitude in 1E-7 degrees
int32 lon # Longitude in 1E-7 degrees
int32 alt # Altitude in 1E-3 meters above MSL, (millimetres)
int32 alt_ellipsoid # Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
float32 s_variance_m_s # GPS speed accuracy estimate, (metres/sec)
float32 c_variance_rad # GPS course accuracy estimate, (radians)
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 horizontal position accuracy (metres)
float32 epv # GPS vertical position accuracy (metres)
float32 hdop # Horizontal dilution of precision
float32 vdop # Vertical dilution of precision
int32 noise_per_ms # GPS noise per millisecond
uint16 automatic_gain_control # Automatic gain control monitor
uint8 JAMMING_STATE_UNKNOWN = 0
uint8 JAMMING_STATE_OK = 1
uint8 JAMMING_STATE_WARNING = 2
uint8 JAMMING_STATE_CRITICAL = 3
uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
int32 jamming_indicator # indicates jamming is occurring
uint8 SPOOFING_STATE_UNKNOWN = 0
uint8 SPOOFING_STATE_NONE = 1
uint8 SPOOFING_STATE_INDICATED = 2
uint8 SPOOFING_STATE_MULTIPLE = 3
uint8 spoofing_state # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
float32 vel_m_s # GPS ground speed, (metres/sec)
float32 vel_n_m_s # GPS North velocity, (metres/sec)
float32 vel_e_m_s # GPS East velocity, (metres/sec)
float32 vel_d_m_s # GPS Down velocity, (metres/sec)
float32 cog_rad # Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
bool vel_ned_valid # True if NED velocity is valid
int32 timestamp_time_relative # timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)
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
float32 heading # heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
float32 heading_offset # heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
float32 heading_accuracy # heading accuracy (rad, [0, 2PI])
float32 rtcm_injection_rate # RTCM message injection rate Hz
uint8 selected_rtcm_instance # uorb instance that is being used for RTCM corrections
# TOPICS sensor_gps vehicle_gps_position