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25 KiB
25 KiB
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SensorGps (повідомлення UORB)
Домашнє GPS положення в координатах WGS84. the field 'timestamp' is for the position & velocity (microseconds).
TOPICS: sensor_gps vehicle_gps_position
Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|---|---|---|---|---|
| timestamp | uint64 |
time since system start (microseconds) | ||
| timestamp_sample | uint64 |
|||
| device_id | uint32 |
unique device ID for the sensor that does not change between power cycles | ||
| latitude_deg | float64 |
Latitude in degrees, allows centimeter level RTK precision | ||
| longitude_deg | float64 |
Longitude in degrees, allows centimeter level RTK precision | ||
| altitude_msl_m | float64 |
Altitude above MSL, meters | ||
| altitude_ellipsoid_m | float64 |
Altitude above Ellipsoid, meters | ||
| s_variance_m_s | float32 |
GPS speed accuracy estimate, (metres/sec) | ||
| c_variance_rad | float32 |
GPS course accuracy estimate, (radians) | ||
| fix_type | uint8 |
Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. | ||
| eph | float32 |
GPS horizontal position accuracy (metres) | ||
| epv | float32 |
GPS vertical position accuracy (metres) | ||
| hdop | float32 |
Horizontal dilution of precision | ||
| vdop | float32 |
Vertical dilution of precision | ||
| noise_per_ms | int32 |
GPS noise per millisecond | ||
| automatic_gain_control | uint16 |
Automatic gain control monitor | ||
| jamming_state | uint8 |
indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected | ||
| jamming_indicator | int32 |
indicates jamming is occurring | ||
| spoofing_state | uint8 |
indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected | ||
| authentication_state | uint8 |
GPS signal authentication state | ||
| vel_m_s | float32 |
GPS ground speed, (metres/sec) | ||
| vel_n_m_s | float32 |
GPS North velocity, (metres/sec) | ||
| vel_e_m_s | float32 |
GPS East velocity, (metres/sec) | ||
| vel_d_m_s | float32 |
GPS Down velocity, (metres/sec) | ||
| cog_rad | float32 |
Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) | ||
| vel_ned_valid | bool |
True if NED velocity is valid | ||
| timestamp_time_relative | int32 |
timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds) | ||
| time_utc_usec | uint64 |
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 | ||
| satellites_used | uint8 |
Number of satellites used | ||
| system_error | uint32 |
General errors with the connected GPS receiver | ||
| heading | float32 |
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]) | ||
| heading_offset | float32 |
heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI]) | ||
| heading_accuracy | float32 |
heading accuracy (rad, [0, 2PI]) | ||
| rtcm_injection_rate | float32 |
RTCM message injection rate Hz | ||
| selected_rtcm_instance | uint8 |
uorb instance that is being used for RTCM corrections | ||
| rtcm_crc_failed | bool |
RTCM message CRC failure detected | ||
| rtcm_msg_used | uint8 |
Indicates if the RTCM message was used successfully by the receiver |
Constants
Source Message
:::details Click here to see original file
# 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
float64 latitude_deg # Latitude in degrees, allows centimeter level RTK precision
float64 longitude_deg # Longitude in degrees, allows centimeter level RTK precision
float64 altitude_msl_m # Altitude above MSL, meters
float64 altitude_ellipsoid_m # Altitude above Ellipsoid, meters
float32 s_variance_m_s # GPS speed accuracy estimate, (metres/sec)
float32 c_variance_rad # GPS course accuracy estimate, (radians)
uint8 FIX_TYPE_NONE = 1 # Value 0 is also valid to represent no fix.
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
uint8 fix_type # 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 #default
uint8 JAMMING_STATE_OK = 1
uint8 JAMMING_STATE_MITIGATED = 2
uint8 JAMMING_STATE_DETECTED = 3
uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected
int32 jamming_indicator # indicates jamming is occurring
uint8 SPOOFING_STATE_UNKNOWN = 0 #default
uint8 SPOOFING_STATE_OK = 1
uint8 SPOOFING_STATE_MITIGATED = 2
uint8 SPOOFING_STATE_DETECTED = 3
uint8 spoofing_state # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected
# Combined authentication state (e.g. Galileo OSNMA)
uint8 AUTHENTICATION_STATE_UNKNOWN = 0 #default
uint8 AUTHENTICATION_STATE_INITIALIZING = 1
uint8 AUTHENTICATION_STATE_ERROR = 2
uint8 AUTHENTICATION_STATE_OK = 3
uint8 AUTHENTICATION_STATE_DISABLED = 4
uint8 authentication_state # GPS signal authentication state
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
uint32 SYSTEM_ERROR_OK = 0 #default
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
uint32 system_error # General errors with the connected GPS receiver
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
bool rtcm_crc_failed # RTCM message CRC failure detected
uint8 RTCM_MSG_USED_UNKNOWN = 0
uint8 RTCM_MSG_USED_NOT_USED = 1
uint8 RTCM_MSG_USED_USED = 2
uint8 rtcm_msg_used # Indicates if the RTCM message was used successfully by the receiver
# TOPICS sensor_gps vehicle_gps_position
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