VehicleGnss (UORB message)

Selected GNSS solution.

Published by the sensors module for every sample of the selected receiver, usable or not, with the selection state and the check result for that sample. Heading is on vehicle_gnss_heading.

TOPICS: vehicle_gnss

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
timestamp_sample	uint64	us		Measurement time, delay corrected. Use this rather than receiver.timestamp_sample, which holds the same value
receiver	SensorGnss			The selected receiver's sensor_gnss sample with the corrected timestamp_sample
antenna_offset	float32[3]	m [FRD]		Antenna position of the selected receiver
selected_instance	uint8			sensor_gnss instance of the selected receiver
selection_count	uint8			Increments when the selected receiver changes
selection_reason	uint8		SELECTION	Why this receiver is selected
usable	bool			Sample may be used: the checks that decide it have passed without a failure for long enough
strict	bool			The strict checks decide usable: they haven't passed since the vehicle was disarmed on the ground, or they pass. Otherwise the relaxed checks decide
failed_strict_checks	uint16		CHECK	Enabled checks this sample fails at the strict thresholds, evaluated on every sample
failed_relaxed_checks	uint16		CHECK	Enabled checks this sample fails at the relaxed thresholds, evaluated on every sample

Enums

SELECTION

Used in field(s): selection_reason

Name	Type	Value	Description
SELECTION_PREFERRED	uint8	0	The preferred receiver
SELECTION_ONLY	uint8	1	No other receiver has published
SELECTION_RANKED	uint8	2	No receiver is preferred, and no other one ranks higher
SELECTION_TIMEOUT	uint8	3	The previously selected or the preferred receiver stopped publishing
SELECTION_UNHEALTHY	uint8	4	The previously selected or the preferred receiver failed its checks or delivered samples late, continuously or often
SELECTION_STRICT	uint8	5	Passes the strict checks, which the previously selected receiver didn't
SELECTION_RTK_FIXED	uint8	6	Passes the strict checks with an RTK fixed solution, and the previously selected receiver ranked lower

CHECK

Used in field(s): failed_strict_checks, failed_relaxed_checks

Name	Type	Value	Description
CHECK_NSATS	uint16	1	Too few satellites
CHECK_PDOP	uint16	2	Position dilution of precision too high
CHECK_EPH	uint16	4	Horizontal position accuracy too low
CHECK_EPV	uint16	8	Vertical position accuracy too low
CHECK_SACC	uint16	16	Speed accuracy too low
CHECK_HDRIFT	uint16	32	Horizontal position drift at rest too high
CHECK_VDRIFT	uint16	64	Vertical position drift at rest too high
CHECK_HSPEED	uint16	128	Horizontal speed at rest too high
CHECK_VSPEED	uint16	256	Vertical speed at rest too high
CHECK_SPOOFED	uint16	512	Receiver reports spoofing
CHECK_FIX	uint16	1024	Fix type too low
CHECK_JAMMED	uint16	2048	Receiver reports jamming

Source Message

Source file (GitHub)

Click here to see original file

# Selected GNSS solution
#
# Published by the sensors module for every sample of the selected receiver, usable or not, with the selection state and the check result for that sample.
# Heading is on vehicle_gnss_heading.

uint64 timestamp        # [us] Time since system start
uint64 timestamp_sample # [us] Measurement time, delay corrected. Use this rather than receiver.timestamp_sample, which holds the same value

SensorGnss receiver # The selected receiver's sensor_gnss sample with the corrected timestamp_sample

float32[3] antenna_offset # [m] [@frame FRD] Antenna position of the selected receiver

# Selection state
uint8 selected_instance       # [-] sensor_gnss instance of the selected receiver
uint8 selection_count         # [-] Increments when the selected receiver changes
uint8 selection_reason        # [@enum SELECTION] Why this receiver is selected
uint8 SELECTION_PREFERRED    = 0 # The preferred receiver
uint8 SELECTION_ONLY         = 1 # No other receiver has published
uint8 SELECTION_RANKED       = 2 # No receiver is preferred, and no other one ranks higher
uint8 SELECTION_TIMEOUT      = 3 # The previously selected or the preferred receiver stopped publishing
uint8 SELECTION_UNHEALTHY    = 4 # The previously selected or the preferred receiver failed its checks or delivered samples late, continuously or often
uint8 SELECTION_STRICT       = 5 # Passes the strict checks, which the previously selected receiver didn't
uint8 SELECTION_RTK_FIXED    = 6 # Passes the strict checks with an RTK fixed solution, and the previously selected receiver ranked lower

# Check result for this sample. The strict checks are the GNSS_REQ_* thresholds, satellite count, PDOP and drift at rest on the ground; the relaxed checks are fixed, looser limits on fix type, accuracy, spoofing and jamming.
bool usable                  # Sample may be used: the checks that decide it have passed without a failure for long enough
bool strict                  # The strict checks decide usable: they haven't passed since the vehicle was disarmed on the ground, or they pass. Otherwise the relaxed checks decide
uint16 failed_strict_checks  # [@enum CHECK] Enabled checks this sample fails at the strict thresholds, evaluated on every sample
uint16 failed_relaxed_checks # [@enum CHECK] Enabled checks this sample fails at the relaxed thresholds, evaluated on every sample
uint16 CHECK_NSATS   = 1    # Too few satellites
uint16 CHECK_PDOP    = 2    # Position dilution of precision too high
uint16 CHECK_EPH     = 4    # Horizontal position accuracy too low
uint16 CHECK_EPV     = 8    # Vertical position accuracy too low
uint16 CHECK_SACC    = 16   # Speed accuracy too low
uint16 CHECK_HDRIFT  = 32   # Horizontal position drift at rest too high
uint16 CHECK_VDRIFT  = 64   # Vertical position drift at rest too high
uint16 CHECK_HSPEED  = 128  # Horizontal speed at rest too high
uint16 CHECK_VSPEED  = 256  # Vertical speed at rest too high
uint16 CHECK_SPOOFED = 512  # Receiver reports spoofing
uint16 CHECK_FIX     = 1024 # Fix type too low
uint16 CHECK_JAMMED  = 2048 # Receiver reports jamming