SensorGps (повідомлення UORB)

Домашнє GPS положення в координатах WGS84. поле 'відмітка часу' призначене для позиції та швидкості (мікросекунди)

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# Домашнє GPS положення в координатах WGS84.
# the field 'timestamp' is for the position & velocity (microseconds)
uint64 timestamp        # time since system start (microseconds)
uint64 timestamp_sample

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

float64 latitude_deg        # Latitude in degrees, allows centimeter level RTK precision
float64 longitude_deg       # Longitude in degrees, allows centimeter level RTK precision
float64 altitude_msl_m      # Altitude above MSL, meters
float64 altitude_ellipsoid_m    # Altitude above Ellipsoid, meters

float32 s_variance_m_s      # GPS speed accuracy estimate, (metres/sec)
float32 c_variance_rad      # GPS course accuracy estimate, (radians)
uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.

float32 eph         # GPS horizontal position accuracy (metres)
float32 epv         # GPS vertical position accuracy (metres)

float32 hdop            # Horizontal dilution of precision
float32 vdop            # Vertical dilution of precision

int32 noise_per_ms      # GPS noise per millisecond
uint16 automatic_gain_control   # Automatic gain control monitor

uint8 JAMMING_STATE_UNKNOWN  = 0
uint8 JAMMING_STATE_OK       = 1
uint8 JAMMING_STATE_WARNING  = 2
uint8 JAMMING_STATE_CRITICAL = 3
uint8 jamming_state     # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
int32 jamming_indicator     # indicates jamming is occurring

uint8 SPOOFING_STATE_UNKNOWN   = 0
uint8 SPOOFING_STATE_NONE      = 1
uint8 SPOOFING_STATE_INDICATED = 2
uint8 SPOOFING_STATE_MULTIPLE  = 3
uint8 spoofing_state        # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical

float32 vel_m_s         # GPS ground speed, (metres/sec)
float32 vel_n_m_s       # GPS North velocity, (metres/sec)
float32 vel_e_m_s       # GPS East velocity, (metres/sec)
float32 vel_d_m_s       # GPS Down velocity, (metres/sec)
float32 cog_rad         # Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
bool vel_ned_valid      # True if NED velocity is valid

int32 timestamp_time_relative   # timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)
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

uint8 satellites_used       # Number of satellites used

float32 heading         # heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
float32 heading_offset      # heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
float32 heading_accuracy    # heading accuracy (rad, [0, 2PI])

float32 rtcm_injection_rate # RTCM message injection rate Hz
uint8 selected_rtcm_instance    # uorb instance that is being used for RTCM corrections

bool rtcm_crc_failed        # RTCM message CRC failure detected

uint8 RTCM_MSG_USED_UNKNOWN = 0
uint8 RTCM_MSG_USED_NOT_USED = 1
uint8 RTCM_MSG_USED_USED = 2
uint8 rtcm_msg_used     # Indicates if the RTCM message was used successfully by the receiver

# TOPICS sensor_gps vehicle_gps_position