PX4-Autopilot/docs/en/msg_docs/SensorGnss.md

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SensorGnss (UORB message)

GNSS receiver report, position in WGS84.

One instance per receiver, published by its driver: the receiver's own solution, unmodified. The sensors module publishes the selected receiver on vehicle_gnss.

TOPICS: sensor_gnss

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
timestamp_sample	uint64	us		Measurement time if the driver knows it, else 0 or equal to timestamp. vehicle_gnss carries the corrected value
device_id	uint32			Unique device ID for the sensor that does not change between power cycles
latitude	float64	deg		Latitude, allows centimeter level RTK precision
longitude	float64	deg		Longitude, allows centimeter level RTK precision
altitude_msl	float64	m		Altitude above MSL, from the receiver's own geoid model
altitude_ellipsoid	float64	m		Altitude above the WGS84 ellipsoid
speed_accuracy	float32	m/s		Speed accuracy estimate
course_accuracy	float32	rad		Course accuracy estimate
fix_type	uint8		FIX_TYPE	Value 0 is also valid to represent no fix
eph	float32	m		Horizontal position accuracy
epv	float32	m		Vertical position accuracy
hdop	float32			Horizontal dilution of precision
vdop	float32			Vertical dilution of precision
noise	int32			Noise level per millisecond
automatic_gain_control	uint16			Automatic gain control monitor
jamming_state	uint8		JAMMING_STATE
jamming_indicator	int32			Jamming indicator
spoofing_state	uint8		SPOOFING_STATE
authentication_state	uint8		AUTHENTICATION_STATE	Combined signal authentication state (e.g. Galileo OSNMA)
ground_speed	float32	m/s		Ground speed
vel_north	float32	m/s		North velocity
vel_east	float32	m/s		East velocity
vel_down	float32	m/s		Down velocity
course	float32	rad	[-PI : PI]	Course over ground, not heading
vel_ned_valid	bool			NED velocity is valid
timestamp_time_relative	int32	us		timestamp + timestamp_time_relative = time of the UTC timestamp since system start
time_utc_usec	uint64	us		UTC time from the receiver, 0 until known
satellites_used	uint8			Satellites used in the solution
system_error	uint32		SYSTEM_ERROR	Bitmask of receiver errors
rtcm_injection_rate	float32	Hz		Correction injection rate
selected_rtcm_instance	uint8			uORB instance used for corrections
corrections_protocol	uint8		CORRECTIONS_PROTOCOL	Protocol of the last correction message the receiver parsed
corrections_crc_failed	bool			Last correction message failed its CRC or content check
corrections_msg_used	uint8		CORRECTIONS_MSG_USED	Whether the receiver used the last correction message

Enums

FIX_TYPE

Used in field(s): fix_type

Name	Type	Value	Description
FIX_TYPE_NONE	uint8	1
FIX_TYPE_2D	uint8	2
FIX_TYPE_3D	uint8	3
FIX_TYPE_RTCM_CODE_DIFFERENTIAL	uint8	4
FIX_TYPE_RTK_FLOAT	uint8	5
FIX_TYPE_RTK_FIXED	uint8	6
FIX_TYPE_EXTRAPOLATED	uint8	8

JAMMING_STATE

Used in field(s): jamming_state

Name	Type	Value	Description
JAMMING_STATE_UNKNOWN	uint8	0
JAMMING_STATE_OK	uint8	1
JAMMING_STATE_MITIGATED	uint8	2
JAMMING_STATE_DETECTED	uint8	3

SPOOFING_STATE

Used in field(s): spoofing_state

Name	Type	Value	Description
SPOOFING_STATE_UNKNOWN	uint8	0
SPOOFING_STATE_OK	uint8	1
SPOOFING_STATE_MITIGATED	uint8	2
SPOOFING_STATE_DETECTED	uint8	3

AUTHENTICATION_STATE

Used in field(s): authentication_state

Name	Type	Value	Description
AUTHENTICATION_STATE_UNKNOWN	uint8	0
AUTHENTICATION_STATE_INITIALIZING	uint8	1
AUTHENTICATION_STATE_ERROR	uint8	2
AUTHENTICATION_STATE_OK	uint8	3
AUTHENTICATION_STATE_DISABLED	uint8	4

SYSTEM_ERROR

Used in field(s): system_error

Name	Type	Value	Description
SYSTEM_ERROR_OK	uint32	0
SYSTEM_ERROR_INCOMING_CORRECTIONS	uint32	1
SYSTEM_ERROR_CONFIGURATION	uint32	2
SYSTEM_ERROR_SOFTWARE	uint32	4
SYSTEM_ERROR_ANTENNA	uint32	8
SYSTEM_ERROR_EVENT_CONGESTION	uint32	16
SYSTEM_ERROR_CPU_OVERLOAD	uint32	32
SYSTEM_ERROR_OUTPUT_CONGESTION	uint32	64

CORRECTIONS_PROTOCOL

Used in field(s): corrections_protocol

Name	Type	Value	Description
CORRECTIONS_PROTOCOL_UNKNOWN	uint8	0
CORRECTIONS_PROTOCOL_RTCM3	uint8	1
CORRECTIONS_PROTOCOL_SPARTN	uint8	2
CORRECTIONS_PROTOCOL_HAS	uint8	3	Galileo High Accuracy Service, received on E6
CORRECTIONS_PROTOCOL_PMP	uint8	4	SPARTN over L-band (u-blox NEO-D9S)
CORRECTIONS_PROTOCOL_QZSS_L6	uint8	5	QZSS CLAS

CORRECTIONS_MSG_USED

Used in field(s): corrections_msg_used

Name	Type	Value	Description
CORRECTIONS_MSG_USED_UNKNOWN	uint8	0
CORRECTIONS_MSG_USED_NOT_USED	uint8	1
CORRECTIONS_MSG_USED_USED	uint8	2

Source Message

Source file (GitHub)

::: details Click here to see original file

# GNSS receiver report, position in WGS84
#
# One instance per receiver, published by its driver: the receiver's own solution, unmodified.
# The sensors module publishes the selected receiver on vehicle_gnss.

uint64 timestamp        # [us] Time since system start
uint64 timestamp_sample # [us] Measurement time if the driver knows it, else 0 or equal to timestamp. vehicle_gnss carries the corrected value

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

float64 latitude           # [deg] Latitude, allows centimeter level RTK precision
float64 longitude          # [deg] Longitude, allows centimeter level RTK precision
float64 altitude_msl       # [m] Altitude above MSL, from the receiver's own geoid model
float64 altitude_ellipsoid # [m] Altitude above the WGS84 ellipsoid

float32 speed_accuracy  # [m/s] Speed accuracy estimate
float32 course_accuracy # [rad] Course accuracy estimate

uint8 fix_type                             # [@enum FIX_TYPE] Value 0 is also valid to represent no fix
uint8 FIX_TYPE_NONE                   = 1
uint8 FIX_TYPE_2D                     = 2
uint8 FIX_TYPE_3D                     = 3
uint8 FIX_TYPE_RTCM_CODE_DIFFERENTIAL = 4
uint8 FIX_TYPE_RTK_FLOAT              = 5
uint8 FIX_TYPE_RTK_FIXED              = 6
uint8 FIX_TYPE_EXTRAPOLATED           = 8

float32 eph  # [m] Horizontal position accuracy
float32 epv  # [m] Vertical position accuracy
float32 hdop # [-] Horizontal dilution of precision
float32 vdop # [-] Vertical dilution of precision

int32 noise                   # [-] Noise level per millisecond
uint16 automatic_gain_control # [-] Automatic gain control monitor

uint8 jamming_state           # [@enum JAMMING_STATE]
uint8 JAMMING_STATE_UNKNOWN   = 0
uint8 JAMMING_STATE_OK        = 1
uint8 JAMMING_STATE_MITIGATED = 2
uint8 JAMMING_STATE_DETECTED  = 3
int32 jamming_indicator       # [-] Jamming indicator

uint8 spoofing_state           # [@enum SPOOFING_STATE]
uint8 SPOOFING_STATE_UNKNOWN   = 0
uint8 SPOOFING_STATE_OK        = 1
uint8 SPOOFING_STATE_MITIGATED = 2
uint8 SPOOFING_STATE_DETECTED  = 3

uint8 authentication_state              # [@enum AUTHENTICATION_STATE] Combined signal authentication state (e.g. Galileo OSNMA)
uint8 AUTHENTICATION_STATE_UNKNOWN      = 0
uint8 AUTHENTICATION_STATE_INITIALIZING = 1
uint8 AUTHENTICATION_STATE_ERROR        = 2
uint8 AUTHENTICATION_STATE_OK           = 3
uint8 AUTHENTICATION_STATE_DISABLED     = 4

float32 ground_speed # [m/s] Ground speed
float32 vel_north    # [m/s] North velocity
float32 vel_east     # [m/s] East velocity
float32 vel_down     # [m/s] Down velocity
float32 course       # [rad] [@range -PI, PI] Course over ground, not heading
bool vel_ned_valid   # NED velocity is valid

int32 timestamp_time_relative # [us] timestamp + timestamp_time_relative = time of the UTC timestamp since system start
uint64 time_utc_usec          # [us] UTC time from the receiver, 0 until known

uint8 satellites_used # [-] Satellites used in the solution

uint32 system_error                      # [@enum SYSTEM_ERROR] Bitmask of receiver errors
uint32 SYSTEM_ERROR_OK                   = 0
uint32 SYSTEM_ERROR_INCOMING_CORRECTIONS = 1
uint32 SYSTEM_ERROR_CONFIGURATION        = 2
uint32 SYSTEM_ERROR_SOFTWARE             = 4
uint32 SYSTEM_ERROR_ANTENNA              = 8
uint32 SYSTEM_ERROR_EVENT_CONGESTION     = 16
uint32 SYSTEM_ERROR_CPU_OVERLOAD         = 32
uint32 SYSTEM_ERROR_OUTPUT_CONGESTION    = 64

float32 rtcm_injection_rate  # [Hz] Correction injection rate
uint8 selected_rtcm_instance # [-] uORB instance used for corrections

uint8 corrections_protocol         # [@enum CORRECTIONS_PROTOCOL] Protocol of the last correction message the receiver parsed
uint8 CORRECTIONS_PROTOCOL_UNKNOWN = 0
uint8 CORRECTIONS_PROTOCOL_RTCM3   = 1
uint8 CORRECTIONS_PROTOCOL_SPARTN  = 2
uint8 CORRECTIONS_PROTOCOL_HAS     = 3 # Galileo High Accuracy Service, received on E6
uint8 CORRECTIONS_PROTOCOL_PMP     = 4 # SPARTN over L-band (u-blox NEO-D9S)
uint8 CORRECTIONS_PROTOCOL_QZSS_L6 = 5 # QZSS CLAS
bool corrections_crc_failed        # Last correction message failed its CRC or content check

uint8 corrections_msg_used          # [@enum CORRECTIONS_MSG_USED] Whether the receiver used the last correction message
uint8 CORRECTIONS_MSG_USED_UNKNOWN  = 0
uint8 CORRECTIONS_MSG_USED_NOT_USED = 1
uint8 CORRECTIONS_MSG_USED_USED     = 2

# TOPICS sensor_gnss

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