PX4-Autopilot/docs/ko/msg_docs/SensorGnssRf.md

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SensorGnssRf (UORB message)

GNSS RF status.

Reports RF block status for a GNSS receiver, decoded from the u-blox UBX-MON-RF message. Includes antenna status/power, jamming/interference indicators, automatic gain control (AGC), noise level, and I/Q demodulation metrics. Published by the gps driver (UBX protocol only), once per RF block, via the block-specific topics below.

TOPICS: sensor_gnss_rf_block0 sensor_gnss_rf_block1 sensor_gnss_rf_block2

Fields

명칭	형식	Unit [Frame]	Range/Enum	설명
timestamp	uint64	us		Time since system start
timestamp_sample	uint64	us		Timestamp of the raw data
device_id	uint32			Unique device ID for the sensor that does not change between power cycles
block_id	uint8			Only used for multi-topic publishing
antenna_status	uint8		ANTENNA_STATUS	Status of the antenna supervisor state machine
antenna_power	uint8		ANTENNA_POWER	Antenna power state
post_status	uint32			Power-on self-test (POST) status word (vendor-specific bitmask)
noise_per_ms	uint16			Noise level as measured by the GNSS receiver core
automatic_gain_control	uint16		[0 : 8191]	Automatic Gain Control (AGC) monitor value (8191 = 100% of max gain)
jamming_indicator	uint8		[0 : 255]	Continuous wave (CW) jamming indicator (0 = no CW jamming, 255 = strong CW jamming)
jamming_state	uint8		JAMMING_STATE	Jamming state
i_offset	int8		[-128 : 127]	Imbalance of the I-part of the complex signal (0 = no imbalance)
i_magnitude	uint8		[0 : 255]	Magnitude of the I-part of the complex signal (0 = no signal, 255 = max magnitude)
q_offset	int8		[-128 : 127]	Imbalance of the Q-part of the complex signal (0 = no imbalance)
q_magnitude	uint8		[0 : 255]	Magnitude of the Q-part of the complex signal (0 = no signal, 255 = max magnitude)
center_frequency	uint32	Hz		Nominal center frequency of the RF block. 0 = unknown.

Enums

ANTENNA_STATUS

Used in field(s): antenna_status

명칭	형식	Value	설명
ANTENNA_STATUS_INIT	uint8	0	Initializing
ANTENNA_STATUS_UNKNOWN	uint8	1	Status unknown
ANTENNA_STATUS_OK	uint8	2	Antenna OK
ANTENNA_STATUS_SHORT	uint8	3	Short circuit detected
ANTENNA_STATUS_OPEN	uint8	4	Open circuit detected

ANTENNA_POWER

Used in field(s): antenna_power

명칭	형식	Value	설명
ANTENNA_POWER_OFF	uint8	0	Power off
ANTENNA_POWER_ON	uint8	1	Power on
ANTENNA_POWER_UNKNOWN	uint8	2	Power state unknown

JAMMING_STATE

Used in field(s): jamming_state

명칭	형식	Value	설명
JAMMING_STATE_UNKNOWN	uint8	0	Unknown
JAMMING_STATE_OK	uint8	1	No jamming detected
JAMMING_STATE_WARNING	uint8	2	Interference visible but fix OK
JAMMING_STATE_CRITICAL	uint8	3	Interference visible and no fix

Source Message

Source file (GitHub)

:::details Click here to see original file

# GNSS RF status
#
# Reports RF block status for a GNSS receiver, decoded from the u-blox UBX-MON-RF message.
# Includes antenna status/power, jamming/interference indicators, automatic gain control (AGC),
# noise level, and I/Q demodulation metrics. Published by the `gps` driver (UBX protocol only), once
# per RF block, via the block-specific topics below.

uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw data

uint32 device_id # Unique device ID for the sensor that does not change between power cycles

uint8 block_id  # [-] Only used for multi-topic publishing

uint8 antenna_status # [@enum ANTENNA_STATUS] Status of the antenna supervisor state machine
uint8 ANTENNA_STATUS_INIT = 0 # Initializing
uint8 ANTENNA_STATUS_UNKNOWN = 1 # Status unknown
uint8 ANTENNA_STATUS_OK = 2 # Antenna OK
uint8 ANTENNA_STATUS_SHORT = 3 # Short circuit detected
uint8 ANTENNA_STATUS_OPEN = 4 # Open circuit detected

uint8 antenna_power # [@enum ANTENNA_POWER] Antenna power state
uint8 ANTENNA_POWER_OFF = 0 # Power off
uint8 ANTENNA_POWER_ON = 1 # Power on
uint8 ANTENNA_POWER_UNKNOWN = 2 # Power state unknown

uint32 post_status # [-] Power-on self-test (POST) status word (vendor-specific bitmask)

uint16 noise_per_ms # [-] Noise level as measured by the GNSS receiver core
uint16 automatic_gain_control # [-] [@range 0, 8191] Automatic Gain Control (AGC) monitor value (8191 = 100% of max gain)
uint8 jamming_indicator # [-] [@range 0, 255] Continuous wave (CW) jamming indicator (0 = no CW jamming, 255 = strong CW jamming)

uint8 jamming_state # [@enum JAMMING_STATE] Jamming state
uint8 JAMMING_STATE_UNKNOWN = 0 # Unknown
uint8 JAMMING_STATE_OK = 1 # No jamming detected
uint8 JAMMING_STATE_WARNING = 2 # Interference visible but fix OK
uint8 JAMMING_STATE_CRITICAL = 3 # Interference visible and no fix

int8 i_offset # [-] [@range -128, 127] Imbalance of the I-part of the complex signal (0 = no imbalance)
uint8 i_magnitude # [-] [@range 0, 255] Magnitude of the I-part of the complex signal (0 = no signal, 255 = max magnitude)
int8 q_offset # [-] [@range -128, 127] Imbalance of the Q-part of the complex signal (0 = no imbalance)
uint8 q_magnitude # [-] [@range 0, 255] Magnitude of the Q-part of the complex signal (0 = no signal, 255 = max magnitude)

uint32 center_frequency # [Hz] Nominal center frequency of the RF block. 0 = unknown.

# One topic per RF block ID
# TOPICS sensor_gnss_rf_block0 sensor_gnss_rf_block1 sensor_gnss_rf_block2

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