gps: add status and integrity information (#2110) #368
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* gps: add status and resilience information Add fields to report resilience and status information from GNSS receivers back to ground control stations for representation in the user interface. * gps: separate GNSS integrity information Move the changes to the `GPS_RAW_INT` message into a separate message that supports multiple GNSS receivers. Update the enum values to better support all GNSS receivers. * gps(integrity): add RAIM info to `GNSS_INTEGRITY` message * gps(integrity): change `GNSS_INTEGRITY` message `id` field to instanced Change the `id` field on the `GNSS_INTEGRITY` message to make use of the instance support in the MAVLink schema. * gps(integrity): move integrity message to `development.xml` * gps(integrity): add jamming mitigated and spoofing critical Change the enums for jamming and spoofing so jamming includes a state for mitigated interference and spoofing no longer includes a message for critical spoofing. * gps(integrity): add units to `GNSS_INTEGRITY` RAIM fields * gps(integrity): add qualitative indicators to `GNSS_INTEGRITY` message Add qualitative fields for GNSS signal quality, incoming corrections quality and overall system status. GNSS receivers or drivers can compute these based on other data. They can be useful before takeoff and during flight as a reliable overview of important GNSS components. * gps(integrity): update quality indicators for unsupported drivers Add support for drivers that can't or don't want to provide the quality indicator information * gps(integrity): use invalid attribute to indicate invalid values Instead of having implicit invalid values, use the `invalid` attributes. Also add invalid values to the RAIM data as it may not always be supplied or available from receivers. * code review - invalid value for uint8 is 255 * Apply suggestions from code review * Update message_definitions/v1.0/development.xml --------- Co-authored-by: Hamish Willee <[email protected]>
tridge
approved these changes
Aug 26, 2024
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Upstream PR was here: mavlink#2110
Add fields to report resilience and status information from GNSS receivers back to ground control stations for representation in the user interface.
Move the changes to the
GPS_RAW_INTmessage into a separate message that supports multiple GNSS receivers. Update the enum values to better support all GNSS receivers.gps(integrity): add RAIM info to
GNSS_INTEGRITYmessagegps(integrity): change
GNSS_INTEGRITYmessageidfield to instancedChange the
idfield on theGNSS_INTEGRITYmessage to make use of the instance support in the MAVLink schema.gps(integrity): move integrity message to
development.xmlgps(integrity): add jamming mitigated and spoofing critical
Change the enums for jamming and spoofing so jamming includes a state for mitigated interference and spoofing no longer includes a message for critical spoofing.
gps(integrity): add units to
GNSS_INTEGRITYRAIM fieldsgps(integrity): add qualitative indicators to
GNSS_INTEGRITYmessageAdd qualitative fields for GNSS signal quality, incoming corrections quality and overall system status. GNSS receivers or drivers can compute these based on other data. They can be useful before takeoff and during flight as a reliable overview of important GNSS components.
Add support for drivers that can't or don't want to provide the quality indicator information
Instead of having implicit invalid values, use the
invalidattributes. Also add invalid values to the RAIM data as it may not always be supplied or available from receivers.code review - invalid value for uint8 is 255
Apply suggestions from code review
Update message_definitions/v1.0/development.xml