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ekf2: Add support for use of multiple GPS receivers (#9765)

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This commit is contained in:
Paul Riseborough
2018-07-22 12:18:30 -04:00
committed by Daniel Agar
parent afe82ffb31
commit fc65939f0e
5 changed files with 711 additions and 32 deletions
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msg/ekf_gps_position.msg
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# EKF blended position in WGS84 coordinates.
int32 lat # Latitude in 1E-7 degrees
int32 lon # Longitude in 1E-7 degrees
int32 alt # Altitude in 1E-3 meters above MSL, (millimetres)
int32 alt_ellipsoid # Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
float32 s_variance_m_s # GPS speed accuracy estimate, (metres/sec)
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 vel_m_s # GPS ground speed, (metres/sec)
float32 vel_n_m_s # GPS North velocity, (metres/sec)
float32 vel_e_m_s # GPS East velocity, (metres/sec)
float32 vel_d_m_s # GPS Down velocity, (metres/sec)
bool vel_ned_valid # True if NED velocity is valid
uint8 satellites_used # Number of satellites used
uint8 selected # GPS selection: 0: GPS1, 1: GPS2. 2: GPS1+GPS2 blend