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uorb: add AuxGlobalPosition message

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Add dedicated AuxGlobalPosition uORB message to replace the previous
approach of reusing VehicleGlobalPosition for auxiliary global position
sources.
This commit is contained in:
Marco Hauswirth 2026-02-12 16:19:48 +01:00 committed by Marco Hauswirth
parent 68b533f79f
commit dd177ac8cf
3 changed files with 32 additions and 1 deletions
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1
msg/CMakeLists.txt
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@ -248,6 +248,7 @@ set(msg_files
versioned/AirspeedValidated.msg
versioned/ArmingCheckReply.msg
versioned/ArmingCheckRequest.msg
versioned/AuxGlobalPosition.msg
versioned/BatteryStatus.msg
versioned/ConfigOverrides.msg
versioned/FixedWingLateralSetpoint.msg

31
msg/versioned/AuxGlobalPosition.msg Normal file
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@ -0,0 +1,31 @@
# Auxiliary global position
#
# This message provides global position data from an external source such as
# pseudolites, visual navigation, or other positioning system.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw data
uint8 id # [-] Unique identifier for the AGP source
uint8 source # [@enum SOURCE] Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC)
uint8 SOURCE_UNKNOWN = 0 # Unknown source
uint8 SOURCE_GNSS = 1 # GNSS
uint8 SOURCE_VISION = 2 # Vision
uint8 SOURCE_PSEUDOLITES = 3 # Pseudolites
uint8 SOURCE_TERRAIN = 4 # Terrain
uint8 SOURCE_MAGNETIC = 5 # Magnetic
uint8 SOURCE_ESTIMATOR = 6 # Estimator
# lat, lon: required for horizontal position fusion, alt: required for vertical position fusion
float64 lat # [deg] Latitude in WGS84
float64 lon # [deg] Longitude in WGS84
float32 alt # [m] [@invalid NaN] Altitude above mean sea level (AMSL)
float32 eph # [m] [@invalid NaN] Std dev of horizontal position, lower bounded by NOISE param
float32 epv # [m] [@invalid NaN] Std dev of vertical position, lower bounded by NOISE param
uint8 lat_lon_reset_counter # [-] Counter for reset events on horizontal position coordinates
# TOPICS aux_global_position

1
msg/versioned/VehicleGlobalPosition.msg
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@ -34,4 +34,3 @@ bool dead_reckoning # True if this position is estimated through dead-reckoning
# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
# TOPICS estimator_global_position
# TOPICS aux_global_position