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2026-03-18 01:41:01 +00:00
parent 89855926ef
commit 1f9911289c
6 changed files with 339 additions and 275 deletions
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docs/en/advanced_config/parameter_reference.md
+97 -40
View File
@@ -20494,36 +20494,6 @@ Automatic: reset on fusion timeout if no other source of position is available.
| ------ | -------- | -------- | --------- | ------- | ---- | | ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 | | | &nbsp; | | | | 0 | |
### EKF2_GPS_POS_X (`FLOAT`) {#EKF2_GPS_POS_X}
X position of GPS antenna in body frame.
Forward (roll) axis with origin relative to vehicle centre of gravity
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### EKF2_GPS_POS_Y (`FLOAT`) {#EKF2_GPS_POS_Y}
Y position of GPS antenna in body frame.
Right (pitch) axis with origin relative to vehicle centre of gravity
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### EKF2_GPS_POS_Z (`FLOAT`) {#EKF2_GPS_POS_Z}
Z position of GPS antenna in body frame.
Down (yaw) axis with origin relative to vehicle centre of gravity
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### EKF2_GPS_P_GATE (`FLOAT`) {#EKF2_GPS_P_GATE} ### EKF2_GPS_P_GATE (`FLOAT`) {#EKF2_GPS_P_GATE}
Gate size for GNSS position fusion. Gate size for GNSS position fusion.
@@ -37358,14 +37328,103 @@ Configure on which serial port to run FT Technologies Digital Wind Sensor (seria
| ------- | -------- | -------- | --------- | ------- | ---- | | ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | | | | 0 | | | &check; | | | | 0 | |
### SENS_GPS0_ID (`INT32`) {#SENS_GPS0_ID}
GPS 0 device ID.
Device ID of the GPS receiver for antenna offset slot 0.
Set to 0 to disable this slot. When all slots are 0, offsets are
matched by uORB instance index (only reliable for serial GPS).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 | |
### SENS_GPS0_OFFX (`FLOAT`) {#SENS_GPS0_OFFX}
GPS 0 antenna X position.
Forward axis relative to vehicle centre of gravity.
Matched to physical GPS receiver via SENS_GPS0_ID.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### SENS_GPS0_OFFY (`FLOAT`) {#SENS_GPS0_OFFY}
GPS 0 antenna Y position.
Right axis relative to vehicle centre of gravity.
Matched to physical GPS receiver via SENS_GPS0_ID.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### SENS_GPS0_OFFZ (`FLOAT`) {#SENS_GPS0_OFFZ}
GPS 0 antenna Z position.
Down axis relative to vehicle centre of gravity.
Matched to physical GPS receiver via SENS_GPS0_ID.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### SENS_GPS1_ID (`INT32`) {#SENS_GPS1_ID}
GPS 1 device ID.
Device ID of the GPS receiver for antenna offset slot 1.
Set to 0 to disable this slot. When all slots are 0, offsets are
matched by uORB instance index (only reliable for serial GPS).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 | |
### SENS_GPS1_OFFX (`FLOAT`) {#SENS_GPS1_OFFX}
GPS 1 antenna X position.
Forward axis relative to vehicle centre of gravity.
Matched to physical GPS receiver via SENS_GPS1_ID.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### SENS_GPS1_OFFY (`FLOAT`) {#SENS_GPS1_OFFY}
GPS 1 antenna Y position.
Right axis relative to vehicle centre of gravity.
Matched to physical GPS receiver via SENS_GPS1_ID.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### SENS_GPS1_OFFZ (`FLOAT`) {#SENS_GPS1_OFFZ}
GPS 1 antenna Z position.
Down axis relative to vehicle centre of gravity.
Matched to physical GPS receiver via SENS_GPS1_ID.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### SENS_GPS_MASK (`INT32`) {#SENS_GPS_MASK} ### SENS_GPS_MASK (`INT32`) {#SENS_GPS_MASK}
Multi GPS Blending Control Mask. Multi GPS Blending Control Mask.
Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance. Set bits in the following positions to set which GPS accuracy metrics will
0 : Set to true to use speed accuracy be used to calculate the blending weight. Set to zero to disable and always
1 : Set to true to use horizontal position accuracy used first GPS instance.
2 : Set to true to use vertical position accuracy
**Bitmask:** **Bitmask:**
@@ -37386,11 +37445,7 @@ The GPS selection logic waits until the primary receiver is available to
send data to the EKF even if a secondary instance is already available. send data to the EKF even if a secondary instance is already available.
The secondary instance is then only used if the primary one times out. The secondary instance is then only used if the primary one times out.
Accepted values: To select a DroneCAN GPS, set this to the node ID.
-1 : Auto (equal priority for all instances)
0 : Main serial GPS instance
1 : Secondary serial GPS instance
2-127 : UAVCAN module node ID
This parameter has no effect if blending is active. This parameter has no effect if blending is active.
@@ -37402,7 +37457,9 @@ This parameter has no effect if blending is active.
Multi GPS Blending Time Constant. Multi GPS Blending Time Constant.
Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences. Sets the longest time constant that will be applied to the calculation of GPS
position and height offsets used to correct data from multiple GPS data for
steady state position differences.
| Reboot | minValue | maxValue | increment | default | unit | | Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- | | ------ | -------- | -------- | --------- | ------- | ---- |
docs/en/middleware/dds_topics.md
+194 -194
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@@ -95,204 +95,204 @@ They are not build into the module, and hence are neither published or subscribe
::: details See messages ::: details See messages
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [LedControl](../msg_docs/LedControl.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [Event](../msg_docs/Event.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [EventV0](../msg_docs/EventV0.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [Mission](../msg_docs/Mission.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md) - [CameraTrigger](../msg_docs/CameraTrigger.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md) - [GpioRequest](../msg_docs/GpioRequest.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [InputRc](../msg_docs/InputRc.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [Vtx](../msg_docs/Vtx.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [Rpm](../msg_docs/Rpm.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [Gripper](../msg_docs/Gripper.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [Ping](../msg_docs/Ping.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [EscReport](../msg_docs/EscReport.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) - [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md) - [AirspeedWind](../msg_docs/AirspeedWind.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) - [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) - [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md) - [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md) - [SensorAirflow](../msg_docs/SensorAirflow.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [LogMessage](../msg_docs/LogMessage.md) - [LogMessage](../msg_docs/LogMessage.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md) - [CellularStatus](../msg_docs/CellularStatus.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) - [TecsStatus](../msg_docs/TecsStatus.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) - [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) - [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [OrbTest](../msg_docs/OrbTest.md) - [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md) - [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md) - [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [EscReport](../msg_docs/EscReport.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [Gripper](../msg_docs/Gripper.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [Event](../msg_docs/Event.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [GainCompression](../msg_docs/GainCompression.md) - [GainCompression](../msg_docs/GainCompression.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [InputRc](../msg_docs/InputRc.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [Rpm](../msg_docs/Rpm.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [Vtx](../msg_docs/Vtx.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [LedControl](../msg_docs/LedControl.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [Mission](../msg_docs/Mission.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [Ping](../msg_docs/Ping.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [EventV0](../msg_docs/EventV0.md)
::: :::
docs/en/msg_docs/SensorGps.md
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@@ -11,7 +11,7 @@ GPS position in WGS84 coordinates. the field 'timestamp' is for the position & v
## Fields ## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description | | Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | | ----------------------- | --------- | ------------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) | | timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | | timestamp_sample | `uint64` | | |
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | | device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
@@ -49,6 +49,9 @@ GPS position in WGS84 coordinates. the field 'timestamp' is for the position & v
| selected_rtcm_instance | `uint8` | | | uorb instance that is being used for RTCM corrections | | selected_rtcm_instance | `uint8` | | | uorb instance that is being used for RTCM corrections |
| rtcm_crc_failed | `bool` | | | RTCM message CRC failure detected | | rtcm_crc_failed | `bool` | | | RTCM message CRC failure detected |
| rtcm_msg_used | `uint8` | | | Indicates if the RTCM message was used successfully by the receiver | | rtcm_msg_used | `uint8` | | | Indicates if the RTCM message was used successfully by the receiver |
| antenna_offset_x | `float32` | m [body frame FRD] | | X Position of GNSS antenna |
| antenna_offset_y | `float32` | m [body frame FRD] | | Y Position of GNSS antenna |
| antenna_offset_z | `float32` | m [body frame FRD] | | Z Position of GNSS antenna |
## Constants ## Constants
@@ -182,6 +185,10 @@ uint8 RTCM_MSG_USED_NOT_USED = 1
uint8 RTCM_MSG_USED_USED = 2 uint8 RTCM_MSG_USED_USED = 2
uint8 rtcm_msg_used # Indicates if the RTCM message was used successfully by the receiver uint8 rtcm_msg_used # Indicates if the RTCM message was used successfully by the receiver
float32 antenna_offset_x # [m] [@frame body frame FRD] X Position of GNSS antenna
float32 antenna_offset_y # [m] [@frame body frame FRD] Y Position of GNSS antenna
float32 antenna_offset_z # [m] [@frame body frame FRD] Z Position of GNSS antenna
# TOPICS sensor_gps vehicle_gps_position # TOPICS sensor_gps vehicle_gps_position
``` ```
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