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gps: add status and integrity information (#2110) #368

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Aug 26, 2024
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gps: add status and integrity information (#2110) #368

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102 changes: 102 additions & 0 deletions message_definitions/v1.0/development.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,93 @@
<param index="7">Empty</param>
</entry>
</enum>
<enum name="GPS_SYSTEM_ERROR_FLAGS" bitmask="true">
<description>Flags indicating errors in a GPS receiver.</description>
<entry value="1" name="GPS_SYSTEM_ERROR_INCOMING_CORRECTIONS">
<description>There are problems with incoming correction streams.</description>
</entry>
<entry value="2" name="GPS_SYSTEM_ERROR_CONFIGURATION">
<description>There are problems with the configuration.</description>
</entry>
<entry value="4" name="GPS_SYSTEM_ERROR_SOFTWARE">
<description>There are problems with the software on the GPS receiver.</description>
</entry>
<entry value="8" name="GPS_SYSTEM_ERROR_ANTENNA">
<description>There are problems with an antenna connected to the GPS receiver.</description>
</entry>
<entry value="16" name="GPS_SYSTEM_ERROR_EVENT_CONGESTION">
<description>There are problems handling all incoming events.</description>
</entry>
<entry value="32" name="GPS_SYSTEM_ERROR_CPU_OVERLOAD">
<description>The GPS receiver CPU is overloaded.</description>
</entry>
<entry value="64" name="GPS_SYSTEM_ERROR_OUTPUT_CONGESTION">
<description>The GPS receiver is experiencing output congestion.</description>
</entry>
</enum>
<enum name="GPS_AUTHENTICATION_STATE">
<description>Signal authentication state in a GPS receiver.</description>
<entry value="0" name="GPS_AUTHENTICATION_STATE_UNKNOWN">
<description>The GPS receiver does not provide GPS signal authentication info.</description>
</entry>
<entry value="1" name="GPS_AUTHENTICATION_STATE_INITIALIZING">
<description>The GPS receiver is initializing signal authentication.</description>
</entry>
<entry value="2" name="GPS_AUTHENTICATION_STATE_ERROR">
<description>The GPS receiver encountered an error while initializing signal authentication.</description>
</entry>
<entry value="3" name="GPS_AUTHENTICATION_STATE_OK">
<description>The GPS receiver has correctly authenticated all signals.</description>
</entry>
<entry value="4" name="GPS_AUTHENTICATION_STATE_DISABLED">
<description>GPS signal authentication is disabled on the receiver.</description>
</entry>
</enum>
<enum name="GPS_JAMMING_STATE">
<description>Signal jamming state in a GPS receiver.</description>
<entry value="0" name="GPS_JAMMING_STATE_UNKNOWN">
<description>The GPS receiver does not provide GPS signal jamming info.</description>
</entry>
<entry value="1" name="GPS_JAMMING_STATE_OK">
<description>The GPS receiver detected no signal jamming.</description>
</entry>
<entry value="2" name="GPS_JAMMING_STATE_MITIGATED">
<description>The GPS receiver detected and mitigated signal jamming.</description>
</entry>
<entry value="3" name="GPS_JAMMING_STATE_DETECTED">
<description>The GPS receiver detected signal jamming.</description>
</entry>
</enum>
<enum name="GPS_SPOOFING_STATE">
<description>Signal spoofing state in a GPS receiver.</description>
<entry value="0" name="GPS_SPOOFING_STATE_UNKNOWN">
<description>The GPS receiver does not provide GPS signal spoofing info.</description>
</entry>
<entry value="1" name="GPS_SPOOFING_STATE_OK">
<description>The GPS receiver detected no signal spoofing.</description>
</entry>
<entry value="2" name="GPS_SPOOFING_STATE_MITIGATED">
<description>The GPS receiver detected and mitigated signal spoofing.</description>
</entry>
<entry value="3" name="GPS_SPOOFING_STATE_DETECTED">
<description>The GPS receiver detected signal spoofing but still has a fix.</description>
</entry>
</enum>
<enum name="GPS_RAIM_STATE">
<description>State of RAIM processing.</description>
<entry value="0" name="GPS_RAIM_STATE_UNKNOWN">
<description>RAIM capability is unknown.</description>
</entry>
<entry value="1" name="GPS_RAIM_STATE_DISABLED">
<description>RAIM is disabled.</description>
</entry>
<entry value="2" name="GPS_RAIM_STATE_OK">
<description>RAIM integrity check was successful.</description>
</entry>
<entry value="3" name="GPS_RAIM_STATE_FAILED">
<description>RAIM integrity check failed.</description>
</entry>
</enum>
</enums>
<messages>
<message id="53" name="MISSION_CHECKSUM">
Expand Down Expand Up @@ -96,5 +183,20 @@
Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500.
Channels with indexes equal or above count should be set to 0, to benefit from MAVLink's trailing-zero trimming.</field>
</message>
<message id="441" name="GNSS_INTEGRITY">
<description>Information about key components of GNSS receivers, like signal authentication, interference and system errors.</description>
<field type="uint8_t" name="id" instance="true">GNSS receiver id. Must match instance ids of other messages from same receiver.</field>
<field type="uint32_t" name="system_errors" enum="GPS_SYSTEM_ERROR_FLAGS" display="bitmask">Errors in the GPS system.</field>
<field type="uint8_t" name="authentication_state" enum="GPS_AUTHENTICATION_STATE">Signal authentication state of the GPS system.</field>
<field type="uint8_t" name="jamming_state" enum="GPS_JAMMING_STATE">Signal jamming state of the GPS system.</field>
<field type="uint8_t" name="spoofing_state" enum="GPS_SPOOFING_STATE">Signal spoofing state of the GPS system.</field>
<field type="uint8_t" name="raim_state" enum="GPS_RAIM_STATE">The state of the RAIM processing.</field>
<field type="uint16_t" name="raim_hfom" units="cm" invalid="UINT16_MAX">Horizontal expected accuracy using satellites successfully validated using RAIM.</field>
<field type="uint16_t" name="raim_vfom" units="cm" invalid="UINT16_MAX">Vertical expected accuracy using satellites successfully validated using RAIM.</field>
<field type="uint8_t" name="corrections_quality" minValue="0" maxValue="10" invalid="UINT8_MAX">An abstract value representing the estimated quality of incoming corrections, or 255 if not available.</field>
<field type="uint8_t" name="system_status_summary" minValue="0" maxValue="10" invalid="UINT8_MAX">An abstract value representing the overall status of the receiver, or 255 if not available.</field>
<field type="uint8_t" name="gnss_signal_quality" minValue="0" maxValue="10" invalid="UINT8_MAX">An abstract value representing the quality of incoming GNSS signals, or 255 if not available.</field>
<field type="uint8_t" name="post_processing_quality" minValue="0" maxValue="10" invalid="UINT8_MAX">An abstract value representing the estimated PPK quality, or 255 if not available.</field>
</message>
</messages>
</mavlink>
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