QGroundControl
Ground Control Station for MAVLink Drones
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sensor_gps.h
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1/* https://github.com/PX4/Firmware/blob/master/msg/SensorGps.msg */
2
3#pragma once
4
5#include <stdint.h>
6
7#include <QtCore/QMetaType>
8
10{
11 uint64_t timestamp;
13
14 uint32_t device_id;
15
20
23
24 static constexpr uint8_t FIX_TYPE_NONE = 1;
25 static constexpr uint8_t FIX_TYPE_2D = 2;
26 static constexpr uint8_t FIX_TYPE_3D = 3;
27 static constexpr uint8_t FIX_TYPE_RTCM_CODE_DIFFERENTIAL = 4;
28 static constexpr uint8_t FIX_TYPE_RTK_FLOAT = 5;
29 static constexpr uint8_t FIX_TYPE_RTK_FIXED = 6;
30 static constexpr uint8_t FIX_TYPE_EXTRAPOLATED = 8;
31 uint8_t fix_type;
32
33 float eph;
34 float epv;
35
36 float hdop;
37 float vdop;
38
39 int32_t noise_per_ms;
41
42 static constexpr uint8_t JAMMING_STATE_UNKNOWN = 0;
43 static constexpr uint8_t JAMMING_STATE_OK = 1;
44 static constexpr uint8_t JAMMING_STATE_WARNING = 2;
45 static constexpr uint8_t JAMMING_STATE_CRITICAL = 3;
48
49 static constexpr uint8_t SPOOFING_STATE_UNKNOWN = 0;
50 static constexpr uint8_t SPOOFING_STATE_NONE = 1;
51 static constexpr uint8_t SPOOFING_STATE_INDICATED = 2;
52 static constexpr uint8_t SPOOFING_STATE_MULTIPLE = 3;
54
55 float vel_m_s;
56 float vel_n_m_s;
57 float vel_e_m_s;
58 float vel_d_m_s;
59 float cog_rad;
61
63 uint64_t time_utc_usec;
64
66
67 float heading;
70
73
75
76 static constexpr uint8_t RTCM_MSG_USED_UNKNOWN = 0;
77 static constexpr uint8_t RTCM_MSG_USED_NOT_USED = 1;
78 static constexpr uint8_t RTCM_MSG_USED_USED = 2;
80};
Q_DECLARE_METATYPE(sensor_gps_s)
int32_t timestamp_time_relative
Definition sensor_gps.h:62
uint64_t timestamp
Definition sensor_gps.h:11
static constexpr uint8_t FIX_TYPE_RTK_FIXED
Definition sensor_gps.h:29
static constexpr uint8_t JAMMING_STATE_OK
Definition sensor_gps.h:43
double latitude_deg
Definition sensor_gps.h:16
static constexpr uint8_t FIX_TYPE_NONE
Definition sensor_gps.h:24
float heading
Definition sensor_gps.h:67
uint32_t device_id
Definition sensor_gps.h:14
static constexpr uint8_t JAMMING_STATE_WARNING
Definition sensor_gps.h:44
float rtcm_injection_rate
Definition sensor_gps.h:71
float vel_d_m_s
Definition sensor_gps.h:58
double altitude_msl_m
Definition sensor_gps.h:18
float s_variance_m_s
Definition sensor_gps.h:21
uint16_t automatic_gain_control
Definition sensor_gps.h:40
static constexpr uint8_t RTCM_MSG_USED_UNKNOWN
Definition sensor_gps.h:76
static constexpr uint8_t FIX_TYPE_RTCM_CODE_DIFFERENTIAL
Definition sensor_gps.h:27
static constexpr uint8_t SPOOFING_STATE_UNKNOWN
Definition sensor_gps.h:49
double longitude_deg
Definition sensor_gps.h:17
uint64_t timestamp_sample
Definition sensor_gps.h:12
uint8_t jamming_state
Definition sensor_gps.h:46
bool rtcm_crc_failed
Definition sensor_gps.h:74
static constexpr uint8_t FIX_TYPE_RTK_FLOAT
Definition sensor_gps.h:28
int32_t jamming_indicator
Definition sensor_gps.h:47
static constexpr uint8_t FIX_TYPE_2D
Definition sensor_gps.h:25
static constexpr uint8_t RTCM_MSG_USED_USED
Definition sensor_gps.h:78
static constexpr uint8_t RTCM_MSG_USED_NOT_USED
Definition sensor_gps.h:77
static constexpr uint8_t FIX_TYPE_3D
Definition sensor_gps.h:26
bool vel_ned_valid
Definition sensor_gps.h:60
static constexpr uint8_t SPOOFING_STATE_NONE
Definition sensor_gps.h:50
uint64_t time_utc_usec
Definition sensor_gps.h:63
uint8_t satellites_used
Definition sensor_gps.h:65
int32_t noise_per_ms
Definition sensor_gps.h:39
float heading_offset
Definition sensor_gps.h:68
float vel_n_m_s
Definition sensor_gps.h:56
static constexpr uint8_t JAMMING_STATE_UNKNOWN
Definition sensor_gps.h:42
float vel_m_s
Definition sensor_gps.h:55
float vel_e_m_s
Definition sensor_gps.h:57
uint8_t fix_type
Definition sensor_gps.h:31
uint8_t selected_rtcm_instance
Definition sensor_gps.h:72
static constexpr uint8_t SPOOFING_STATE_MULTIPLE
Definition sensor_gps.h:52
static constexpr uint8_t JAMMING_STATE_CRITICAL
Definition sensor_gps.h:45
uint8_t rtcm_msg_used
Definition sensor_gps.h:79
uint8_t spoofing_state
Definition sensor_gps.h:53
static constexpr uint8_t SPOOFING_STATE_INDICATED
Definition sensor_gps.h:51
float heading_accuracy
Definition sensor_gps.h:69
static constexpr uint8_t FIX_TYPE_EXTRAPOLATED
Definition sensor_gps.h:30
float cog_rad
Definition sensor_gps.h:59
float c_variance_rad
Definition sensor_gps.h:22
double altitude_ellipsoid_m
Definition sensor_gps.h:19