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docs/en/msg_docs/SensorGps.md
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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
```