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gps: add device_id

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Daniel Agar
2021-04-01 22:39:46 -04:00
parent 278633c980
commit 0d828f3651
11 changed files with 109 additions and 22 deletions
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msg/satellite_info.msg
+3 -1
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@@ -1,4 +1,6 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint8 SAT_INFO_MAX_SATELLITES = 20
uint8 count # Number of satellites visible to the receiver
msg/sensor_gps.msg
+5 -2
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@@ -1,6 +1,9 @@
# GPS position in WGS84 coordinates.
# the field 'timestamp' is for the position & velocity (microseconds)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the field 'timestamp_sample' is for the position & velocity (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
int32 lat # Latitude in 1E-7 degrees
int32 lon # Longitude in 1E-7 degrees
msg/vehicle_gps_position.msg
+8 -2
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@@ -1,6 +1,9 @@
# GPS position in WGS84 coordinates.
# the field 'timestamp' is for the position & velocity (microseconds)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the field 'timestamp_sample' is for the position & velocity (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
int32 lat # Latitude in 1E-7 degrees
int32 lon # Longitude in 1E-7 degrees
@@ -36,4 +39,7 @@ uint8 satellites_used # Number of satellites used
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[3] position_offset
uint8 selected # GPS selection: 0: GPS1, 1: GPS2. 2: GPS3. 3. Blending multiple receivers