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77 lines
7.4 KiB
Markdown
77 lines
7.4 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# SensorGnssRelative (UORB message)
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GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
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**TOPICS:** sensor_gnss_relative
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ---------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| timestamp_sample | `uint64` | | | time since system start (microseconds) |
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| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
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| time_utc_usec | `uint64` | | | 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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| reference_station_id | `uint16` | | | Reference Station ID |
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| position | `float32[3]` | | | GPS NED relative position vector (m) |
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| position_accuracy | `float32[3]` | | | Accuracy of relative position (m) |
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| heading | `float32` | | | Heading of the relative position vector (radians) |
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| heading_accuracy | `float32` | | | Accuracy of heading of the relative position vector (radians) |
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| position_length | `float32` | | | Length of the position vector (m) |
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| accuracy_length | `float32` | | | Accuracy of the position length (m) |
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| gnss_fix_ok | `bool` | | | GNSS valid fix (i.e within DOP & accuracy masks) |
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| differential_solution | `bool` | | | differential corrections were applied |
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| relative_position_valid | `bool` | | |
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| carrier_solution_floating | `bool` | | | carrier phase range solution with floating ambiguities |
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| carrier_solution_fixed | `bool` | | | carrier phase range solution with fixed ambiguities |
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| moving_base_mode | `bool` | | | if the receiver is operating in moving base mode |
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| reference_position_miss | `bool` | | | extrapolated reference position was used to compute moving base solution this epoch |
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| reference_observations_miss | `bool` | | | extrapolated reference observations were used to compute moving base solution this epoch |
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| heading_valid | `bool` | | |
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| relative_position_normalized | `bool` | | | the components of the relative position vector (including the high-precision parts) are normalized |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssRelative.msg)
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::: details Click here to see original file
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```c
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# GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # time since system start (microseconds)
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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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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uint16 reference_station_id # Reference Station ID
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float32[3] position # GPS NED relative position vector (m)
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float32[3] position_accuracy # Accuracy of relative position (m)
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float32 heading # Heading of the relative position vector (radians)
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float32 heading_accuracy # Accuracy of heading of the relative position vector (radians)
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float32 position_length # Length of the position vector (m)
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float32 accuracy_length # Accuracy of the position length (m)
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bool gnss_fix_ok # GNSS valid fix (i.e within DOP & accuracy masks)
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bool differential_solution # differential corrections were applied
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bool relative_position_valid
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bool carrier_solution_floating # carrier phase range solution with floating ambiguities
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bool carrier_solution_fixed # carrier phase range solution with fixed ambiguities
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bool moving_base_mode # if the receiver is operating in moving base mode
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bool reference_position_miss # extrapolated reference position was used to compute moving base solution this epoch
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bool reference_observations_miss # extrapolated reference observations were used to compute moving base solution this epoch
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bool heading_valid
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bool relative_position_normalized # the components of the relative position vector (including the high-precision parts) are normalized
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```
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:::
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