mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-08-18 06:37:59 +08:00
23 lines
1.2 KiB
Plaintext
23 lines
1.2 KiB
Plaintext
# GNSS spectrum analysis
|
|
#
|
|
# Reports a basic RF spectrum analysis for a GNSS receiver, decoded from the u-blox UBX-MON-SPAN
|
|
# message (enabled via the GPS_UBX_SPECTRUM parameter).
|
|
# Published by the `gps` driver (UBX protocol only), once per RF block, via the block-specific topics below.
|
|
# The center frequency of bin i is: f(i) = center_frequency + spectrum_span * (i - 127) / 256
|
|
|
|
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. Use center_frequency to determine which RF band it is.
|
|
|
|
uint8[256] spectrum # [(2^-2)dB] Spectrum magnitude per bin (number of points = spectrum_span / resolution)
|
|
uint32 spectrum_span # [Hz] Frequency span covered by the spectrum
|
|
uint32 resolution # [Hz] Frequency resolution of the spectrum (bin width)
|
|
uint32 center_frequency # [Hz] Center frequency of the spectrum span
|
|
uint8 programmable_gain_amplifier # [dB] Programmable gain amplifier setting
|
|
|
|
# One topic per RF block ID
|
|
# TOPICS sensor_gnss_spectrum_block0 sensor_gnss_spectrum_block1 sensor_gnss_spectrum_block2
|