From c2a68debd94422649e32f5570e9df720a2731a9b Mon Sep 17 00:00:00 2001 From: Claudio Micheli Date: Fri, 29 Jan 2021 21:55:29 +0100 Subject: [PATCH] add jamming_state to gps sensor module Signed-off-by: Claudio Micheli --- msg/sensor_gps.msg | 1 + src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/msg/sensor_gps.msg b/msg/sensor_gps.msg index 6d954aa634..3e78c3156c 100644 --- a/msg/sensor_gps.msg +++ b/msg/sensor_gps.msg @@ -19,6 +19,7 @@ float32 vdop # Vertical dilution of precision int32 noise_per_ms # GPS noise per millisecond int32 jamming_indicator # indicates jamming is occurring +uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical float32 vel_m_s # GPS ground speed, (metres/sec) float32 vel_n_m_s # GPS North velocity, (metres/sec) diff --git a/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp b/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp index 5580e88c71..b435550908 100644 --- a/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp +++ b/src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp @@ -687,6 +687,7 @@ void VehicleGPSPosition::Publish(const sensor_gps_s &gps, uint8_t selected) gps_output.vdop = gps.vdop; gps_output.noise_per_ms = gps.noise_per_ms; gps_output.jamming_indicator = gps.jamming_indicator; + gps_output.jamming_state = gps.jamming_state; gps_output.vel_m_s = gps.vel_m_s; gps_output.vel_n_m_s = gps.vel_n_m_s; gps_output.vel_e_m_s = gps.vel_e_m_s;