From 9b5c9b0c8aed1f375e7afe528f4971dffb7dac59 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 24 Feb 2016 11:29:19 +0100 Subject: [PATCH] Add HDOP / VDOP fields --- msg/vehicle_gps_position.msg | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/msg/vehicle_gps_position.msg b/msg/vehicle_gps_position.msg index 697bfb51d5..ab8a92873f 100644 --- a/msg/vehicle_gps_position.msg +++ b/msg/vehicle_gps_position.msg @@ -10,8 +10,11 @@ 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 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