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a24488328f
- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position - blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU Co-authored-by: Jacob Crabill <jacob@volans-i.com> Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
38 lines
2.2 KiB
Plaintext
38 lines
2.2 KiB
Plaintext
# GPS position in WGS84 coordinates.
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# the field 'timestamp' is for the position & velocity (microseconds)
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uint64 timestamp # time since system start (microseconds)
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int32 lat # Latitude in 1E-7 degrees
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int32 lon # Longitude in 1E-7 degrees
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int32 alt # Altitude in 1E-3 meters above MSL, (millimetres)
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int32 alt_ellipsoid # Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
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float32 s_variance_m_s # GPS speed accuracy estimate, (metres/sec)
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float32 c_variance_rad # GPS course accuracy estimate, (radians)
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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.
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float32 eph # GPS horizontal position accuracy (metres)
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float32 epv # GPS vertical position accuracy (metres)
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float32 hdop # Horizontal dilution of precision
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float32 vdop # Vertical dilution of precision
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int32 noise_per_ms # GPS noise per millisecond
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int32 jamming_indicator # indicates jamming is occurring
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float32 vel_m_s # GPS ground speed, (metres/sec)
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float32 vel_n_m_s # GPS North velocity, (metres/sec)
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float32 vel_e_m_s # GPS East velocity, (metres/sec)
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float32 vel_d_m_s # GPS Down velocity, (metres/sec)
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float32 cog_rad # Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
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bool vel_ned_valid # True if NED velocity is valid
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int32 timestamp_time_relative # timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)
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uint64 time_utc_usec # Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0
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uint8 satellites_used # Number of satellites used
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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])
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float32 heading_offset # heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
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uint8 selected # GPS selection: 0: GPS1, 1: GPS2. 2: GPS3. 3. Blending multiple receivers |