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137
docs/en/advanced_config/parameter_reference.md
View File

@ -20494,36 +20494,6 @@ Automatic: reset on fusion timeout if no other source of position is available.
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 | |
### EKF2_GPS_POS_X (`FLOAT`) {#EKF2_GPS_POS_X}
X position of GPS antenna in body frame.
Forward (roll) axis with origin relative to vehicle centre of gravity
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### EKF2_GPS_POS_Y (`FLOAT`) {#EKF2_GPS_POS_Y}
Y position of GPS antenna in body frame.
Right (pitch) axis with origin relative to vehicle centre of gravity
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### EKF2_GPS_POS_Z (`FLOAT`) {#EKF2_GPS_POS_Z}
Z position of GPS antenna in body frame.
Down (yaw) axis with origin relative to vehicle centre of gravity
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### EKF2_GPS_P_GATE (`FLOAT`) {#EKF2_GPS_P_GATE}
Gate size for GNSS position fusion.
@ -37358,14 +37328,103 @@ Configure on which serial port to run FT Technologies Digital Wind Sensor (seria
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | | | | 0 | |
### SENS_GPS0_ID (`INT32`) {#SENS_GPS0_ID}
GPS 0 device ID.
Device ID of the GPS receiver for antenna offset slot 0.
Set to 0 to disable this slot. When all slots are 0, offsets are
matched by uORB instance index (only reliable for serial GPS).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 | |
### SENS_GPS0_OFFX (`FLOAT`) {#SENS_GPS0_OFFX}
GPS 0 antenna X position.
Forward axis relative to vehicle centre of gravity.
Matched to physical GPS receiver via SENS_GPS0_ID.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### SENS_GPS0_OFFY (`FLOAT`) {#SENS_GPS0_OFFY}
GPS 0 antenna Y position.
Right axis relative to vehicle centre of gravity.
Matched to physical GPS receiver via SENS_GPS0_ID.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### SENS_GPS0_OFFZ (`FLOAT`) {#SENS_GPS0_OFFZ}
GPS 0 antenna Z position.
Down axis relative to vehicle centre of gravity.
Matched to physical GPS receiver via SENS_GPS0_ID.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### SENS_GPS1_ID (`INT32`) {#SENS_GPS1_ID}
GPS 1 device ID.
Device ID of the GPS receiver for antenna offset slot 1.
Set to 0 to disable this slot. When all slots are 0, offsets are
matched by uORB instance index (only reliable for serial GPS).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 | |
### SENS_GPS1_OFFX (`FLOAT`) {#SENS_GPS1_OFFX}
GPS 1 antenna X position.
Forward axis relative to vehicle centre of gravity.
Matched to physical GPS receiver via SENS_GPS1_ID.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### SENS_GPS1_OFFY (`FLOAT`) {#SENS_GPS1_OFFY}
GPS 1 antenna Y position.
Right axis relative to vehicle centre of gravity.
Matched to physical GPS receiver via SENS_GPS1_ID.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### SENS_GPS1_OFFZ (`FLOAT`) {#SENS_GPS1_OFFZ}
GPS 1 antenna Z position.
Down axis relative to vehicle centre of gravity.
Matched to physical GPS receiver via SENS_GPS1_ID.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | m |
### SENS_GPS_MASK (`INT32`) {#SENS_GPS_MASK}
Multi GPS Blending Control Mask.
Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance.
0 : Set to true to use speed accuracy
1 : Set to true to use horizontal position accuracy
2 : Set to true to use vertical position accuracy
Set bits in the following positions to set which GPS accuracy metrics will
be used to calculate the blending weight. Set to zero to disable and always
used first GPS instance.
**Bitmask:**
@ -37386,11 +37445,7 @@ The GPS selection logic waits until the primary receiver is available to
send data to the EKF even if a secondary instance is already available.
The secondary instance is then only used if the primary one times out.
Accepted values:
-1 : Auto (equal priority for all instances)
0 : Main serial GPS instance
1 : Secondary serial GPS instance
2-127 : UAVCAN module node ID
To select a DroneCAN GPS, set this to the node ID.
This parameter has no effect if blending is active.
@ -37402,7 +37457,9 @@ This parameter has no effect if blending is active.
Multi GPS Blending Time Constant.
Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.
Sets the longest time constant that will be applied to the calculation of GPS
position and height offsets used to correct data from multiple GPS data for
steady state position differences.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |

388
docs/en/middleware/dds_topics.md
View File

@ -95,204 +95,204 @@ They are not build into the module, and hence are neither published or subscribe
::: details See messages
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [LedControl](../msg_docs/LedControl.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [Event](../msg_docs/Event.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [EventV0](../msg_docs/EventV0.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [Mission](../msg_docs/Mission.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [InputRc](../msg_docs/InputRc.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [Vtx](../msg_docs/Vtx.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [Rpm](../msg_docs/Rpm.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [Gripper](../msg_docs/Gripper.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [Ping](../msg_docs/Ping.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [EscReport](../msg_docs/EscReport.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [EscReport](../msg_docs/EscReport.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [Gripper](../msg_docs/Gripper.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [Event](../msg_docs/Event.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [InputRc](../msg_docs/InputRc.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [Rpm](../msg_docs/Rpm.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [Vtx](../msg_docs/Vtx.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [LedControl](../msg_docs/LedControl.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [Mission](../msg_docs/Mission.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [Ping](../msg_docs/Ping.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [EventV0](../msg_docs/EventV0.md)
:::

85
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@ -10,45 +10,48 @@ GPS position in WGS84 coordinates. the field 'timestamp' is for the position & v
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| 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 |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------- | --------- | ------------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| 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 |
| antenna_offset_x | `float32` | m [body frame FRD] | | X Position of GNSS antenna |
| antenna_offset_y | `float32` | m [body frame FRD] | | Y Position of GNSS antenna |
| antenna_offset_z | `float32` | m [body frame FRD] | | Z Position of GNSS antenna |
## Constants
@ -182,6 +185,10 @@ 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
float32 antenna_offset_x # [m] [@frame body frame FRD] X Position of GNSS antenna
float32 antenna_offset_y # [m] [@frame body frame FRD] Y Position of GNSS antenna
float32 antenna_offset_z # [m] [@frame body frame FRD] Z Position of GNSS antenna
# TOPICS sensor_gps vehicle_gps_position
```

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