uavcan: gnss.quality by dakejahl · Pull Request #26438 · PX4/PX4-Autopilot

dakejahl · 2026-02-09T10:05:23Z

Summary

Integrate the new uavcan.equipment.gnss.Quality DSDL message (dronecan/DSDL#77) into PX4, routing signal quality, interference, and antenna state from DroneCAN GNSS nodes into sensor_gps + sensor_gnss_status, and republishing PX4's internal state outward for PX4-as-GNSS-node use.

Changes

`sensor_gps` extensions (`msg/SensorGps.msg`)

diff_age u16 — differential correction age [s]. 0xFFFF = N/A.
antenna_status u8 — UNKNOWN / INIT / OK / SHORT / OPEN.
antenna_power u8 — UNKNOWN / OFF / ON.
SYSTEM_ERROR_* enum values extended.

Integrity metrics (corrections_quality, system_status_summary, gnss_signal_quality, post_processing_quality) stay on sensor_gnss_status to align with MAVLink GNSS_INTEGRITY (id 441).

UAVCAN bridge (`src/drivers/uavcan/sensors/gnss.{cpp,hpp}`)

Subscribes to uavcan.equipment.gnss.Quality. Fills noise_per_ms, automatic_gain_control, jamming_*, spoofing_state, authentication_state, diff_age, antenna_*, system_error on sensor_gps, and publishes the four 0-10 integrity metrics on sensor_gnss_status (which feeds MAVLink GNSS_INTEGRITY).

UAVCAN node publisher (`src/drivers/uavcannode/Publishers/GnssQuality.hpp`)

Broadcasts Quality on DroneCAN at the sensor_gps update rate. Reads the four 0-10 quality metrics from sensor_gnss_status; defaults to 255 (N/A) if unavailable.

Submodule bumps

src/drivers/uavcan/libdronecan/dsdl → adds 1064.Quality.uavcan
src/drivers/gps/devices → u-blox driver populates the new fields

Quality Gate passed

Issues
1 New issue
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

github-actions · 2026-02-09T10:14:30Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 1728 byte (0.08 %)]

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Updated: 2026-02-09T10:14:29

Drop fix_quality (u8, 0-100) from SensorGps.msg and route the four abstract quality metrics (corrections, receiver summary, gnss signal, post-processing) through sensor_gnss_status (u8, 0-10, 255 = N/A) — matching MAVLink GNSS_INTEGRITY (id 441). - Bridge publishes sensor_gnss_status on incoming Quality messages. - uavcannode GnssQuality publisher reads the four quality fields from sensor_gnss_status while continuing to trigger on sensor_gps. - Submodule bumps for DSDL and PX4-GPSDrivers.

cuav-chen2 · 2026-04-14T09:03:48Z

Hi @dakejahl, This is test data for CUAV NEO 4SE with DroneCAN gnss.quality.

dakejahl · 2026-05-18T16:32:50Z

Going to revisit this once I submit the MAVLink RFC for a general GNSS overhaul between MAVLink and DroneCAN

dakejahl added 4 commits February 9, 2026 00:57

msg: sensor_gps quality metrics

0c671d9

gps: ubx driver for quality

4240d0e

uavcan: subscriber for gnss.quality

1ee9388

uavcannode: publisher for gnss.quality

9dbf46b

dakejahl requested review from AlexKlimaj and alexcekay February 9, 2026 10:05

dakejahl mentioned this pull request Apr 14, 2026

ubx: diff corrections age, fix quality, agc, antenna status and power PX4/PX4-GPSDrivers#200

Open

dakejahl mentioned this pull request Apr 14, 2026

gnss.quality dronecan/DSDL#77

Closed

dakejahl closed this May 18, 2026

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uavcan: gnss.quality#26438

uavcan: gnss.quality#26438
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dakejahl commented Feb 9, 2026 •

edited

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Summary

Changes

sensor_gps extensions (msg/SensorGps.msg)

UAVCAN bridge (src/drivers/uavcan/sensors/gnss.{cpp,hpp})

UAVCAN node publisher (src/drivers/uavcannode/Publishers/GnssQuality.hpp)

Submodule bumps

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Quality Gate passed

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dakejahl commented Feb 9, 2026 •

edited

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`sensor_gps` extensions (`msg/SensorGps.msg`)

UAVCAN bridge (`src/drivers/uavcan/sensors/gnss.{cpp,hpp}`)

UAVCAN node publisher (`src/drivers/uavcannode/Publishers/GnssQuality.hpp`)