VehicleGnssHeading (UORB message)

GNSS heading from a dual-antenna or moving-baseline receiver, published by the sensors module from sensor_gnss_relative. Only headings whose reported baseline matches the configured SENS_GNSSn_HDG baseline are published. Consumed by EKF2. independently from position/velocity.

TOPICS: vehicle_gnss_heading

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
timestamp_sample	uint64			time since system start (microseconds) - actual measurement time
device_id	uint32			unique device ID for the sensor that does not change between power cycles
heading	float32			body-frame heading rel to NED from dual antenna array (rad, [-PI, PI])
heading_accuracy	float32			1-sigma heading accuracy (rad)
heading_offset	float32			yaw of the configured antenna baseline in the body frame; heading + heading_offset is the measured baseline heading (rad, [-PI, PI])
baseline_length	float32			antenna baseline length reported by the receiver, NaN if it doesn't report one (m)
jamming_state	uint8			jamming_state of the receiver providing the heading, values as in SensorGnss (0: Unknown, 1: OK, 2: Mitigated, 3: Detected)
spoofing_state	uint8			spoofing_state of the receiver providing the heading, values as in SensorGnss (0: Unknown, 1: OK, 2: Mitigated, 3: Detected)

Source Message

Source file (GitHub)

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# GNSS heading from a dual-antenna or moving-baseline receiver, published by the sensors module from sensor_gnss_relative.
# Only headings whose reported baseline matches the configured SENS_GNSSn_HDG baseline are published. Consumed by EKF2
# independently from position/velocity.

uint64 timestamp              # time since system start (microseconds)
uint64 timestamp_sample       # time since system start (microseconds) - actual measurement time

uint32 device_id              # unique device ID for the sensor that does not change between power cycles

float32 heading               # body-frame heading rel to NED from dual antenna array (rad, [-PI, PI])
float32 heading_accuracy      # 1-sigma heading accuracy (rad)
float32 heading_offset        # yaw of the configured antenna baseline in the body frame; heading + heading_offset is the measured baseline heading (rad, [-PI, PI])
float32 baseline_length       # antenna baseline length reported by the receiver, NaN if it doesn't report one (m)

uint8 jamming_state           # jamming_state of the receiver providing the heading, values as in SensorGnss (0: Unknown, 1: OK, 2: Mitigated, 3: Detected)
uint8 spoofing_state          # spoofing_state of the receiver providing the heading, values as in SensorGnss (0: Unknown, 1: OK, 2: Mitigated, 3: Detected)