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* feat(gps): log GNSS info from UBX_MSG_MON_SPAN and UBX_MON_RF for improved GNSS debugging capabilities. Introduction of two new uorb messages to log the content of UBX_MSG_MON_SPAN and UBX_MON_RF on a per-band level per receiver. Gated behind Kconfig GPS_UBX_SPAN and new parameter GPS_UBX_SPECTRUM. * feat(gps): deactivate Kconfig option GPS_UBX_SPAN by default Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * feat(gps): update submodule * chore(gps): remove unnecessary comment and whitespace * feat(boards/px4_fmu-v6c): activate CONFIG_GPS_UBX_SPAN --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
23 lines
1.2 KiB
Plaintext
23 lines
1.2 KiB
Plaintext
# GNSS spectrum analysis
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#
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# Reports a basic RF spectrum analysis for a GNSS receiver, decoded from the u-blox UBX-MON-SPAN
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# message (enabled via the GPS_UBX_SPECTRUM parameter).
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# Published by the `gps` driver (UBX protocol only), once per RF block, via the block-specific topics below.
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# The center frequency of bin i is: f(i) = center_frequency + spectrum_span * (i - 127) / 256
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Timestamp of the raw data
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uint32 device_id # Unique device ID for the sensor that does not change between power cycles
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uint8 block_id # [-] Only used for multi-topic publishing. Use center_frequency to determine which RF band it is.
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uint8[256] spectrum # [(2^-2)dB] Spectrum magnitude per bin (number of points = spectrum_span / resolution)
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uint32 spectrum_span # [Hz] Frequency span covered by the spectrum
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uint32 resolution # [Hz] Frequency resolution of the spectrum (bin width)
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uint32 center_frequency # [Hz] Center frequency of the spectrum span
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uint8 programmable_gain_amplifier # [dB] Programmable gain amplifier setting
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# One topic per RF block ID
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# TOPICS sensor_gnss_spectrum_block0 sensor_gnss_spectrum_block1 sensor_gnss_spectrum_block2
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