WIP: move GPS status to sensors

msg/CMakeLists.txt

@@ -140,6 +140,7 @@ set(msg_files
 	sensor_preflight_mag.msg
 	sensor_selection.msg
 	sensors_status_imu.msg
+	sensors_status_gps.msg
 	system_power.msg
 	takeoff_status.msg
 	task_stack_info.msg

msg/sensors_status_gps.msg

@@ -0,0 +1,28 @@
+#
+# Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
+#
+uint64 timestamp # time since system start (microseconds)
+
+uint32[2] device_ids
+float32[2] inconsistency
+bool[2] healthy
+uint8[2] priority
+
+
+# drift metrics
+float32[2] drift_rate_hpos # Horizontal position rate magnitude checked using EKF2_REQ_HDRIFT (m/s)
+float32[2] drift_rate_vpos # Vertical position rate magnitude checked using EKF2_REQ_VDRIFT (m/s)
+float32[2] drift_hspd      # Filtered horizontal velocity magnitude checked using EKF2_REQ_HDRIFT (m/s)
+
+float32[2] error_norm      # normalised gps error
+
+bool[2] fail_fix    # true if the fix type is insufficient (no 3D solution)
+bool[2] fail_nsats  # true if number of satellites used is insufficient
+bool[2] fail_pdop   # true if position dilution of precision is insufficient
+bool[2] fail_hacc   # true if reported horizontal accuracy is insufficient
+bool[2] fail_vacc   # true if reported vertical accuracy is insufficient
+bool[2] fail_sacc   # true if reported speed accuracy is insufficient
+bool[2] fail_hdrift # true if horizontal drift is excessive (can only be used when stationary on ground)
+bool[2] fail_vdrift # true if vertical drift is excessive (can only be used when stationary on ground)
+bool[2] fail_hspeed # true if horizontal speed is excessive (can only be used when stationary on ground)
+bool[2] fail_vspeed # true if vertical speed error is excessive