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Septentrio GNSS resilience reporting (#25012)

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Co-authored-by: Tory9 <vvpost05@gmail.com>
This commit is contained in:
Louis-max-H
2025-09-24 17:08:10 +02:00
committed by GitHub
parent 8fe2a2218e
commit e71faf38a0
15 changed files with 360 additions and 29 deletions
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msg/SensorGps.msg
+29 -11
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@@ -30,18 +30,26 @@ float32 vdop # Vertical dilution of precision
int32 noise_per_ms # GPS noise per millisecond
uint16 automatic_gain_control # Automatic gain control monitor
uint8 JAMMING_STATE_UNKNOWN = 0
uint8 JAMMING_STATE_OK = 1
uint8 JAMMING_STATE_WARNING = 2
uint8 JAMMING_STATE_CRITICAL = 3
uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
int32 jamming_indicator # indicates jamming is occurring
uint8 JAMMING_STATE_UNKNOWN = 0 #default
uint8 JAMMING_STATE_OK = 1
uint8 JAMMING_STATE_MITIGATED = 2
uint8 JAMMING_STATE_DETECTED = 3
uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected
int32 jamming_indicator # indicates jamming is occurring
uint8 SPOOFING_STATE_UNKNOWN = 0
uint8 SPOOFING_STATE_NONE = 1
uint8 SPOOFING_STATE_INDICATED = 2
uint8 SPOOFING_STATE_MULTIPLE = 3
uint8 spoofing_state # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
uint8 SPOOFING_STATE_UNKNOWN = 0 #default
uint8 SPOOFING_STATE_OK = 1
uint8 SPOOFING_STATE_MITIGATED = 2
uint8 SPOOFING_STATE_DETECTED = 3
uint8 spoofing_state # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected
# Combined authentication state (e.g. Galileo OSNMA)
uint8 AUTHENTICATION_STATE_UNKNOWN = 0 #default
uint8 AUTHENTICATION_STATE_INITIALIZING = 1
uint8 AUTHENTICATION_STATE_ERROR = 2
uint8 AUTHENTICATION_STATE_OK = 3
uint8 AUTHENTICATION_STATE_DISABLED = 4
uint8 authentication_state # GPS signal authentication state
float32 vel_m_s # GPS ground speed, (metres/sec)
float32 vel_n_m_s # GPS North velocity, (metres/sec)
@@ -55,6 +63,16 @@ uint64 time_utc_usec # Timestamp (microseconds, UTC), this is the timestamp whi
uint8 satellites_used # Number of satellites used
uint32 SYSTEM_ERROR_OK = 0 #default
uint32 SYSTEM_ERROR_INCOMING_CORRECTIONS = 1
uint32 SYSTEM_ERROR_CONFIGURATION = 2
uint32 SYSTEM_ERROR_SOFTWARE = 4
uint32 SYSTEM_ERROR_ANTENNA = 8
uint32 SYSTEM_ERROR_EVENT_CONGESTION = 16
uint32 SYSTEM_ERROR_CPU_OVERLOAD = 32
uint32 SYSTEM_ERROR_OUTPUT_CONGESTION = 64
uint32 system_error # General errors with the connected GPS receiver
float32 heading # heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
float32 heading_offset # heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
float32 heading_accuracy # heading accuracy (rad, [0, 2PI])