Update message definitions Mon Jun 17 19:47:49 UTC 2024

msg/GpsDump.msg

@@ -1,12 +1,10 @@
 # This message is used to dump the raw gps communication to the log.
-# Set the parameter GPS_DUMP_COMM to 1 to use this.
 
-uint64 timestamp		# time since system start (microseconds)
+uint64 timestamp # time since system start (microseconds)
 
-uint8 instance 		# Instance of GNSS receiver
-
-uint8 len			# length of data, MSB bit set = message to the gps device,
-				# clear = message from the device
-uint8[79] data		# data to write to the log
+uint8 instance   # Instance of GNSS receiver
+uint8 len        # length of data, MSB bit set = message to the gps device,
+                 # clear = message from the device
+uint8[79] data   # data to write to the log
 
 uint8 ORB_QUEUE_LENGTH = 8

msg/SensorGps.msg

@@ -12,7 +12,14 @@ float64 altitude_ellipsoid_m	# Altitude above Ellipsoid, meters
 
 float32 s_variance_m_s		# GPS speed accuracy estimate, (metres/sec)
 float32 c_variance_rad		# GPS course accuracy estimate, (radians)
-uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+uint8 FIX_TYPE_NONE                   = 1       # Value 0 is also valid to represent no fix.
+uint8 FIX_TYPE_2D                     = 2
+uint8 FIX_TYPE_3D                     = 3
+uint8 FIX_TYPE_RTCM_CODE_DIFFERENTIAL = 4
+uint8 FIX_TYPE_RTK_FLOAT              = 5
+uint8 FIX_TYPE_RTK_FIXED              = 6
+uint8 FIX_TYPE_EXTRAPOLATED           = 8
+uint8 fix_type                  # Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
 
 float32 eph			# GPS horizontal position accuracy (metres)
 float32 epv			# GPS vertical position accuracy (metres)