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combine sensor_gps + vehicle_gps_position msgs (keeping separate topics)

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Daniel Agar
2022-07-07 10:24:11 -04:00
parent 32ae00fd44
commit 15223009d2
29 changed files with 77 additions and 142 deletions
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msg/CMakeLists.txt
-1
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@@ -189,7 +189,6 @@ set(msg_files
vehicle_constraints.msg
vehicle_control_mode.msg
vehicle_global_position.msg
vehicle_gps_position.msg
vehicle_imu.msg
vehicle_imu_status.msg
vehicle_land_detected.msg
msg/sensor_gps.msg
+9 -1
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@@ -1,6 +1,7 @@
# 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
@@ -21,8 +22,13 @@ float32 vdop # Vertical dilution of precision
int32 noise_per_ms # GPS noise per millisecond
uint16 automatic_gain_control # Automatic gain control monitor
int32 jamming_indicator # indicates jamming is occurring
uint8 JAMMING_STATE_UNKNOWN = 0
uint8 JAMMING_STATE_OK = 1
uint8 JAMMING_STATE_WARNING = 2
uint8 JAMMING_STATE_CRITICAL = 3
uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
int32 jamming_indicator # indicates jamming is occurring
float32 vel_m_s # GPS ground speed, (metres/sec)
float32 vel_n_m_s # GPS North velocity, (metres/sec)
@@ -39,3 +45,5 @@ 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 heading_accuracy # heading accuracy (rad, [0, 2PI])
# TOPICS sensor_gps vehicle_gps_position
msg/vehicle_gps_position.msg
-39
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@@ -1,39 +0,0 @@
# GPS position in WGS84 coordinates.
# the field 'timestamp' is for the position & velocity (microseconds)
uint64 timestamp # time since system start (microseconds)
int32 lat # Latitude in 1E-7 degrees
int32 lon # Longitude in 1E-7 degrees
int32 alt # Altitude in 1E-3 meters above MSL, (millimetres)
int32 alt_ellipsoid # Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
float32 s_variance_m_s # GPS speed accuracy estimate, (metres/sec)
float32 c_variance_rad # GPS course accuracy estimate, (radians)
uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. 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
int32 jamming_indicator # indicates jamming is occurring
uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
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
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])
uint8 selected # GPS selection: 0: GPS1, 1: GPS2. 2: GPS3. 3. Blending multiple receivers