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msg: sensor_gps quality metrics

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Jacob Dahl
2026-02-09 00:57:34 -09:00
parent eb43d21730
commit 0c671d9bc7
1 changed files with 16 additions and 0 deletions
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msg/SensorGps.msg
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@@ -73,6 +73,22 @@ uint32 SYSTEM_ERROR_CPU_OVERLOAD = 32
uint32 SYSTEM_ERROR_OUTPUT_CONGESTION = 64
uint32 system_error # General errors with the connected GPS receiver
uint16 diff_age # Differential correction age [seconds]. 0xFFFF = unavailable.
uint8 ANTENNA_STATUS_UNKNOWN = 0
uint8 ANTENNA_STATUS_INIT = 1
uint8 ANTENNA_STATUS_OK = 2
uint8 ANTENNA_STATUS_SHORT = 3
uint8 ANTENNA_STATUS_OPEN = 4
uint8 antenna_status # Antenna supervisor state
uint8 ANTENNA_POWER_UNKNOWN = 0
uint8 ANTENNA_POWER_OFF = 1
uint8 ANTENNA_POWER_ON = 2
uint8 antenna_power # Antenna power status
uint8 fix_quality # Fix quality/confidence indicator [0-100]. 0 = no confidence, 100 = full confidence.
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])