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62 lines
6.3 KiB
Markdown
62 lines
6.3 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# EstimatorGpsStatus (UORB message)
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**TOPICS:** estimator_gpsstatus
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| ------------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------ |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
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| checks_passed | `bool` | | | |
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| check_fail_gps_fix | `bool` | | | 0 : insufficient fix type (no 3D solution) |
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| check_fail_min_sat_count | `bool` | | | 1 : minimum required sat count fail |
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| check_fail_max_pdop | `bool` | | | 2 : maximum allowed PDOP fail |
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| check_fail_max_horz_err | `bool` | | | 3 : maximum allowed horizontal position error fail |
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| check_fail_max_vert_err | `bool` | | | 4 : maximum allowed vertical position error fail |
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| check_fail_max_spd_err | `bool` | | | 5 : maximum allowed speed error fail |
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| check_fail_max_horz_drift | `bool` | | | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle |
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| check_fail_max_vert_drift | `bool` | | | 7 : maximum allowed vertical position drift fail - requires stationary vehicle |
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| check_fail_max_horz_spd_err | `bool` | | | 8 : maximum allowed horizontal speed fail - requires stationary vehicle |
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| check_fail_max_vert_spd_err | `bool` | | | 9 : maximum allowed vertical velocity discrepancy fail |
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| check_fail_spoofed_gps | `bool` | | | 10 : GPS signal is spoofed |
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| position_drift_rate_horizontal_m_s | `float32` | | | Horizontal position rate magnitude (m/s) |
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| position_drift_rate_vertical_m_s | `float32` | | | Vertical position rate magnitude (m/s) |
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| filtered_horizontal_speed_m_s | `float32` | | | Filtered horizontal velocity magnitude (m/s) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorGpsStatus.msg)
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:::details
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Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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bool checks_passed
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bool check_fail_gps_fix # 0 : insufficient fix type (no 3D solution)
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bool check_fail_min_sat_count # 1 : minimum required sat count fail
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bool check_fail_max_pdop # 2 : maximum allowed PDOP fail
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bool check_fail_max_horz_err # 3 : maximum allowed horizontal position error fail
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bool check_fail_max_vert_err # 4 : maximum allowed vertical position error fail
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bool check_fail_max_spd_err # 5 : maximum allowed speed error fail
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bool check_fail_max_horz_drift # 6 : maximum allowed horizontal position drift fail - requires stationary vehicle
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bool check_fail_max_vert_drift # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
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bool check_fail_max_horz_spd_err # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
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bool check_fail_max_vert_spd_err # 9 : maximum allowed vertical velocity discrepancy fail
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bool check_fail_spoofed_gps # 10 : GPS signal is spoofed
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float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s)
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float32 position_drift_rate_vertical_m_s # Vertical position rate magnitude (m/s)
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float32 filtered_horizontal_speed_m_s # Filtered horizontal velocity magnitude (m/s)
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```
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:::
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