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drivers/gnss/septentrio : 1.15-compatible extracted septentrio driver, with new features and fixes (#23386)

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Co-authored-by: Chiara de Saint Giniez <chiarastginiez@gmail.com>
This commit is contained in:
chiara-septentrio
2024-07-25 11:39:38 -04:00
committed by Daniel Agar
co-authored by Chiara de Saint Giniez
parent 3dc97908db
commit 5216453b39
27 changed files with 4155 additions and 69 deletions
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msg/GpsDump.msg
+5 -7
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@@ -1,12 +1,10 @@
# This message is used to dump the raw gps communication to the log.
# Set the parameter GPS_DUMP_COMM to 1 to use this.
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # time since system start (microseconds)
uint8 instance # Instance of GNSS receiver
uint8 len # length of data, MSB bit set = message to the gps device,
# clear = message from the device
uint8[79] data # data to write to the log
uint8 instance # Instance of GNSS receiver
uint8 len # length of data, MSB bit set = message to the gps device,
# clear = message from the device
uint8[79] data # data to write to the log
uint8 ORB_QUEUE_LENGTH = 8
msg/SensorGps.msg
+8 -1
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@@ -12,7 +12,14 @@ float64 altitude_ellipsoid_m # Altitude above Ellipsoid, meters
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.
uint8 FIX_TYPE_NONE = 1 # Value 0 is also valid to represent no fix.
uint8 FIX_TYPE_2D = 2
uint8 FIX_TYPE_3D = 3
uint8 FIX_TYPE_RTCM_CODE_DIFFERENTIAL = 4
uint8 FIX_TYPE_RTK_FLOAT = 5
uint8 FIX_TYPE_RTK_FIXED = 6
uint8 FIX_TYPE_EXTRAPOLATED = 8
uint8 fix_type # 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)