ubx: diff corrections age, fix quality, agc, antenna status and power#200
ubx: diff corrections age, fix quality, agc, antenna status and power#200dakejahl wants to merge 2 commits into
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I don't know how many GPS boards implement the antenna sensing. We probably don't want a system error by default. |
I just checked the interface description for M9/F9/F10/M10/X20 and they all support UBX-MON-RF with
It's already in the SensorGps.msg, we may as well populate it |
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Ahh, the ublox modules require an additonal circuit to use the antenna status field. It has |
dakejahl
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Hi @dakejahl , these features are exactly what we needed. Thank you for the adaptation! This is some test data based on the CUAV positioning module—hope it proves helpful. CUAV Neo3 CUAV C-RTK9Ps CUAV Develop new products None of the modules tested have implemented antenna sensing functionality, so the value of antStatus remains either 1 (INIT) or 2 (OK). |
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@cuav-chen2 thanks for testing. I will work on this again, we should get it in. I'd like to also get in the DroneCAN DSDL message to support gnss quality reporting over CAN. I think you already found the PX4 PR? |
Deriving fix_quality from fix_type is circular (consumers can already do this themselves). u-blox provides no 0-10 quality metric aligned with MAVLink GNSS_INTEGRITY, so leave the field unpopulated.
Yes, we will test DroneCAN messages as well, and will provide the test data later. @dakejahl |
3 participants
Summary
Surface additional u-blox receiver state via
sensor_gps:diff_age— differential correction age in seconds, fromUBX-NAV-PVT.flags3.lastCorrectionAgevia a lookup table (binned 0-12 → 0-120 s).automatic_gain_control— fromUBX-MON-RF.agcCnt(0-8191, % of max gain).antenna_status,antenna_power— fromUBX-MON-RF.antStatus/antPower.SYSTEM_ERROR_ANTENNA— set whenantStatusreports SHORT or OPEN, cleared otherwise.Also extends
ubx_payload_rx_nav_pvt_t(addsflags3,magDec,magAcc) to match the ubx8+ spec and makeflags3addressable.Not populated
Abstract quality metrics (
corrections_quality,system_status_summary,gnss_signal_quality,post_processing_qualityonsensor_gnss_status) are left at 255 — u-blox has no 0-10 metric equivalent to Septentrio'sQualityInd. Synthesizing fromfix_typewould be circular.Related
Qualitymessage: gnss.quality dronecan/DSDL#77