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cd4c495377
Having a generic interface over the GPS drivers makes dedicated functionality for each driver harder. Move the Septentrio driver into its own module under the `gnss` driver directory, and let it have its own parameters for only the functionality it requires. This also helps with adding new features because they only need to be implemented for the driver that wants it, simplifying testing.
73 lines
3.6 KiB
Plaintext
73 lines
3.6 KiB
Plaintext
# GPS position in WGS84 coordinates.
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# the field 'timestamp' is for the position & velocity (microseconds)
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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float64 latitude_deg # Latitude in degrees, allows centimeter level RTK precision
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float64 longitude_deg # Longitude in degrees, allows centimeter level RTK precision
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float64 altitude_msl_m # Altitude above MSL, meters
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float64 altitude_ellipsoid_m # Altitude above Ellipsoid, meters
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float32 s_variance_m_s # GPS speed accuracy estimate, (metres/sec)
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float32 c_variance_rad # GPS course accuracy estimate, (radians)
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uint8 FIX_TYPE_NONE = 1 # Value 0 is also valid to represent no fix.
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uint8 FIX_TYPE_2D = 2
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uint8 FIX_TYPE_3D = 3
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uint8 FIX_TYPE_RTCM_CODE_DIFFERENTIAL = 4
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uint8 FIX_TYPE_RTK_FLOAT = 5
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uint8 FIX_TYPE_RTK_FIXED = 6
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uint8 FIX_TYPE_EXTRAPOLATED = 8
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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.
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float32 eph # GPS horizontal position accuracy (metres)
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float32 epv # GPS vertical position accuracy (metres)
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float32 hdop # Horizontal dilution of precision
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float32 vdop # Vertical dilution of precision
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int32 noise_per_ms # GPS noise per millisecond
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uint16 automatic_gain_control # Automatic gain control monitor
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uint8 JAMMING_STATE_UNKNOWN = 0
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uint8 JAMMING_STATE_OK = 1
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uint8 JAMMING_STATE_WARNING = 2
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uint8 JAMMING_STATE_CRITICAL = 3
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uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
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int32 jamming_indicator # indicates jamming is occurring
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uint8 SPOOFING_STATE_UNKNOWN = 0
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uint8 SPOOFING_STATE_NONE = 1
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uint8 SPOOFING_STATE_INDICATED = 2
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uint8 SPOOFING_STATE_MULTIPLE = 3
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uint8 spoofing_state # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
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float32 vel_m_s # GPS ground speed, (metres/sec)
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float32 vel_n_m_s # GPS North velocity, (metres/sec)
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float32 vel_e_m_s # GPS East velocity, (metres/sec)
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float32 vel_d_m_s # GPS Down velocity, (metres/sec)
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float32 cog_rad # Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
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bool vel_ned_valid # True if NED velocity is valid
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int32 timestamp_time_relative # timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)
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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
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uint8 satellites_used # Number of satellites used
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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])
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float32 heading_offset # heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
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float32 heading_accuracy # heading accuracy (rad, [0, 2PI])
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float32 rtcm_injection_rate # RTCM message injection rate Hz
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uint8 selected_rtcm_instance # uorb instance that is being used for RTCM corrections
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bool rtcm_crc_failed # RTCM message CRC failure detected
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uint8 RTCM_MSG_USED_UNKNOWN = 0
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uint8 RTCM_MSG_USED_NOT_USED = 1
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uint8 RTCM_MSG_USED_USED = 2
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uint8 rtcm_msg_used # Indicates if the RTCM message was used successfully by the receiver
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# TOPICS sensor_gps vehicle_gps_position
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