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uorb: add AuxGlobalPosition message

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Add dedicated message type for auxiliary global position sources.
Separates aux_global_position from VehicleGlobalPosition topic.
This commit is contained in:
Marco Hauswirth 2025-12-18 14:08:31 +01:00
parent fee7da696d
commit ec7973e4a2
4 changed files with 25 additions and 3 deletions
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22
msg/AuxGlobalPosition.msg Normal file
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@ -0,0 +1,22 @@
# Auxiliary global position
# This message provides global position data from an external source such as
# radio-triangulation, viusal 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 sourcxe, 1X for Visual Navigation, 2X for Radio Triangulation
float64 lat # [deg] Latitude in WGS84
float64 lon # [deg] Longitude in WGS84
float32 alt # [m] Altitude above mean sea level (AMSL)
float32 eph # [m] Standard deviation of horizontal position error
float32 epv # [m] Standard deviation of vertical position error
uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates
# TOPICS aux_global_position

1
msg/CMakeLists.txt
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@ -47,6 +47,7 @@ set(msg_files
Airspeed.msg
AirspeedWind.msg
AutotuneAttitudeControlStatus.msg
AuxGlobalPosition.msg
BatteryInfo.msg
ButtonEvent.msg
CameraCapture.msg

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

4
src/modules/logger/logged_topics.cpp
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@ -208,7 +208,7 @@ void LoggedTopics::add_default_topics()
add_topic_multi("vehicle_imu_status", 1000, 4);
add_optional_topic_multi("vehicle_magnetometer", 500, 4);
add_topic("vehicle_optical_flow", 500);
add_topic("aux_global_position", 500);
add_topic_multi("aux_global_position", 500);
add_optional_topic("pps_capture");
// additional control allocation logging
@ -317,7 +317,7 @@ void LoggedTopics::add_estimator_replay_topics()
add_topic("vehicle_magnetometer");
add_topic("vehicle_status");
add_topic("vehicle_visual_odometry");
add_topic("aux_global_position");
add_topic_multi("aux_global_position");
add_topic_multi("distance_sensor");
}