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

명칭	형식	Unit [Frame]	Range/Enum	설명
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
usable	bool			Sample may be used: the receiver has passed its checks for long enough
failed_checks	uint16		CHECK	Bitmask of the enabled checks that failed

Enums

CHECK

Used in field(s): failed_checks

명칭	형식	Value	설명
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)

Details

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# 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

# Check result for this sample
bool usable                 # Sample may be used: the receiver has passed its checks for long enough
uint16 failed_checks        # [@enum CHECK] Bitmask of the enabled checks that failed
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