SensorGnssRf (UORB message)
GNSS RF status.
Reports RF block status for a GNSS receiver, decoded from the u-blox UBX-MON-RF message. Includes antenna status/power, jamming/interference indicators, automatic gain control (AGC), noise level, and I/Q demodulation metrics. Published by the gps driver (UBX protocol only), once per RF block, via the block-specific topics below.
TOPICS: sensor_gnss_rf_block0 sensor_gnss_rf_block1 sensor_gnss_rf_block2
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 | us | Time since system start | |
| timestamp_sample | uint64 | us | Timestamp of the raw data | |
| device_id | uint32 | Unique device ID for the sensor that does not change between power cycles | ||
| block_id | uint8 | Only used for multi-topic publishing | ||
| antenna_status | uint8 | ANTENNA_STATUS | Status of the antenna supervisor state machine | |
| antenna_power | uint8 | ANTENNA_POWER | Antenna power state | |
| post_status | uint32 | Power-on self-test (POST) status word (vendor-specific bitmask) | ||
| noise_per_ms | uint16 | Noise level as measured by the GNSS receiver core | ||
| automatic_gain_control | uint16 | [0 : 8191] | Automatic Gain Control (AGC) monitor value (8191 = 100% of max gain) | |
| jamming_indicator | uint8 | [0 : 255] | Continuous wave (CW) jamming indicator (0 = no CW jamming, 255 = strong CW jamming) | |
| jamming_state | uint8 | JAMMING_STATE | Jamming state | |
| i_offset | int8 | [-128 : 127] | Imbalance of the I-part of the complex signal (0 = no imbalance) | |
| i_magnitude | uint8 | [0 : 255] | Magnitude of the I-part of the complex signal (0 = no signal, 255 = max magnitude) | |
| q_offset | int8 | [-128 : 127] | Imbalance of the Q-part of the complex signal (0 = no imbalance) | |
| q_magnitude | uint8 | [0 : 255] | Magnitude of the Q-part of the complex signal (0 = no signal, 255 = max magnitude) | |
| center_frequency | uint32 | Hz | Nominal center frequency of the RF block. 0 = unknown. |
Enums
ANTENNA_STATUS
Used in field(s): antenna_status
ANTENNA_POWER
Used in field(s): antenna_power
| Name | Type | Value | Description |
|---|---|---|---|
| ANTENNA_POWER_OFF | uint8 | 0 | Power off |
| ANTENNA_POWER_ON | uint8 | 1 | Power on |
| ANTENNA_POWER_UNKNOWN | uint8 | 2 | Power state unknown |
JAMMING_STATE
Used in field(s): jamming_state
Source Message
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c
# GNSS RF status
#
# Reports RF block status for a GNSS receiver, decoded from the u-blox UBX-MON-RF message.
# Includes antenna status/power, jamming/interference indicators, automatic gain control (AGC),
# noise level, and I/Q demodulation metrics. Published by the `gps` driver (UBX protocol only), once
# per RF block, via the block-specific topics below.
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw data
uint32 device_id # Unique device ID for the sensor that does not change between power cycles
uint8 block_id # [-] Only used for multi-topic publishing
uint8 antenna_status # [@enum ANTENNA_STATUS] Status of the antenna supervisor state machine
uint8 ANTENNA_STATUS_INIT = 0 # Initializing
uint8 ANTENNA_STATUS_UNKNOWN = 1 # Status unknown
uint8 ANTENNA_STATUS_OK = 2 # Antenna OK
uint8 ANTENNA_STATUS_SHORT = 3 # Short circuit detected
uint8 ANTENNA_STATUS_OPEN = 4 # Open circuit detected
uint8 antenna_power # [@enum ANTENNA_POWER] Antenna power state
uint8 ANTENNA_POWER_OFF = 0 # Power off
uint8 ANTENNA_POWER_ON = 1 # Power on
uint8 ANTENNA_POWER_UNKNOWN = 2 # Power state unknown
uint32 post_status # [-] Power-on self-test (POST) status word (vendor-specific bitmask)
uint16 noise_per_ms # [-] Noise level as measured by the GNSS receiver core
uint16 automatic_gain_control # [-] [@range 0, 8191] Automatic Gain Control (AGC) monitor value (8191 = 100% of max gain)
uint8 jamming_indicator # [-] [@range 0, 255] Continuous wave (CW) jamming indicator (0 = no CW jamming, 255 = strong CW jamming)
uint8 jamming_state # [@enum JAMMING_STATE] Jamming state
uint8 JAMMING_STATE_UNKNOWN = 0 # Unknown
uint8 JAMMING_STATE_OK = 1 # No jamming detected
uint8 JAMMING_STATE_WARNING = 2 # Interference visible but fix OK
uint8 JAMMING_STATE_CRITICAL = 3 # Interference visible and no fix
int8 i_offset # [-] [@range -128, 127] Imbalance of the I-part of the complex signal (0 = no imbalance)
uint8 i_magnitude # [-] [@range 0, 255] Magnitude of the I-part of the complex signal (0 = no signal, 255 = max magnitude)
int8 q_offset # [-] [@range -128, 127] Imbalance of the Q-part of the complex signal (0 = no imbalance)
uint8 q_magnitude # [-] [@range 0, 255] Magnitude of the Q-part of the complex signal (0 = no signal, 255 = max magnitude)
uint32 center_frequency # [Hz] Nominal center frequency of the RF block. 0 = unknown.
# One topic per RF block ID
# TOPICS sensor_gnss_rf_block0 sensor_gnss_rf_block1 sensor_gnss_rf_block2