Update SensorGps.msg to improve naming

[dakejahl]

Replaces #24352

• Rename fields to remove units and improve naming
• Cleaned up comments

Please see the questions in the TODOs

[PetervdPerk-NXP]

Good chance to rename to GNSS as well?

[dakejahl]

Good chance to rename to GNSS as well?

Probably should..

[hamishwillee]

Does this align with https://mavlink.io/en/messages/development.html#GNSS_INTEGRITY ?

[dakejahl]

Does this align with https://mavlink.io/en/messages/development.html#GNSS_INTEGRITY ?

Right now we're not collecting most of that information

[hamishwillee]

Right now we're not collecting most of that information

OK. Just putting it there for your consideration.

[dakejahl]

Good chance to rename to GNSS as well?

Probably should..

487 matches across 136 files

oof

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[hamishwillee]

@dakejahl Can we also bring to docs standard

That would be like this

# GPS position in WGS84 coordinates.
uint64 timestamp         # [us] Time of publication (since system start)
uint64 timestamp_sample  # [us] Time of data capture

uint32 device_id  # [-] Unique device ID for the sensor that does not change between power cycles

float64 latitude            # [deg] Latitude (allows centimeter level RTK precision)
float64 longitude           # [deg] Longitude (allows centimeter level RTK precision)
float64 altitude_msl        # [m] Altitude above MSL (meters) (as calculated by GNSS system)
float64 altitude_ellipsoid  # [m] Altitude above Ellipsoid (WGS84)

float32 speed_accuracy                     # [m/s] GPS speed accuracy estimate
float32 course_accuracy                    # [rad] GPS course accuracy estimate
uint8 fix_type                             # [@enum FIX_TYPE] Fix type. Value 0 is also valid to represent no fix
uint8 FIX_TYPE_NONE                   = 1  # No fix
uint8 FIX_TYPE_2D                     = 2  # 2D fix
uint8 FIX_TYPE_3D                     = 3  # 3D fix
uint8 FIX_TYPE_RTCM_CODE_DIFFERENTIAL = 4
uint8 FIX_TYPE_RTK_FLOAT              = 5
uint8 FIX_TYPE_RTK_FIXED              = 6
uint8 FIX_TYPE_EXTRAPOLATED           = 8

float32 eph  # [m] GPS horizontal position accuracy
float32 epv  # [m] GPS vertical position accuracy

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

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

uint8 jamming_state               # [@enum JAMMING_STATE] Indicates whether jamming has been detected or suspected by the receivers (ublox only)
uint8 JAMMING_STATE_UNKNOWN  = 0
uint8 JAMMING_STATE_OK       = 1
uint8 JAMMING_STATE_WARNING  = 2
uint8 JAMMING_STATE_CRITICAL = 3
uint8 jamming_indicator           # [-] [range 0, 255] Value from 0-255 where 0 indicates no jamming and 255 indicates strong CW jamming (ublox only)

uint8 spoofing_state                # [@enum SPOOFING_STATE] Indicates whether spoofing has been detected or suspected by the receivers
uint8 SPOOFING_STATE_UNKNOWN   = 0
uint8 SPOOFING_STATE_NONE      = 1
uint8 SPOOFING_STATE_INDICATED = 2
uint8 SPOOFING_STATE_MULTIPLE  = 3

float32 ground_speed  # [m/s] GPS ground speed
float32 vel_north     # [m/s]GPS North velocity
float32 vel_east      # [m/s]GPS East velocity
float32 vel_down      # [m/s]GPS Down velocity
float32 course        # [rad] [@range -PI, PI] Course over ground (NOT heading, but direction of movement)
bool vel_ned_valid    # True if NED velocity is valid

int32 timestamp_time_relative  # [us] timestamp + timestamp_time_relative = Time of the UTC timestamp since system start
uint64 time_utc_usec           # [us] Timestamp (UTC), might be unavailable right after cold start (indicated by value of 0)

uint8 satellites_used  # [-] Number of satellites used

float32 heading           # [rad] [@range -PI, PI] [@invalid NaN if not available] Heading angle of XYZ body frame relative to NED. (Used for dual antenna GPS)
float32 heading_offset    # [rad] [@range -PI, PI] [@invalid NaN if not applicable] Heading offset of dual antenna array in body frame
float32 heading_accuracy  # [rad] [@range 0, 2PI] Heading accuracy

float32 rtcm_injection_rate   # [Hz] RTCM message injection rate
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

[dakejahl]

Yeah sounds great. Want to push to the branch?

[dakejahl]

I'm not going to rename it to gnss because I think that might be the straw that breaks the camels back, at least not in this PR