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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>
48 lines
2.4 KiB
Plaintext
48 lines
2.4 KiB
Plaintext
# GNSS RF status
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#
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# Reports RF block status for a GNSS receiver, decoded from the u-blox UBX-MON-RF message.
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# Includes antenna status/power, jamming/interference indicators, automatic gain control (AGC),
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# noise level, and I/Q demodulation metrics. Published by the `gps` driver (UBX protocol only), once
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# per RF block, via the block-specific topics below.
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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
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uint8 antenna_status # [@enum ANTENNA_STATUS] Status of the antenna supervisor state machine
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uint8 ANTENNA_STATUS_INIT = 0 # Initializing
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uint8 ANTENNA_STATUS_UNKNOWN = 1 # Status unknown
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uint8 ANTENNA_STATUS_OK = 2 # Antenna OK
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uint8 ANTENNA_STATUS_SHORT = 3 # Short circuit detected
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uint8 ANTENNA_STATUS_OPEN = 4 # Open circuit detected
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uint8 antenna_power # [@enum ANTENNA_POWER] Antenna power state
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uint8 ANTENNA_POWER_OFF = 0 # Power off
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uint8 ANTENNA_POWER_ON = 1 # Power on
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uint8 ANTENNA_POWER_UNKNOWN = 2 # Power state unknown
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uint32 post_status # [-] Power-on self-test (POST) status word (vendor-specific bitmask)
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uint16 noise_per_ms # [-] Noise level as measured by the GNSS receiver core
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uint16 automatic_gain_control # [-] [@range 0, 8191] Automatic Gain Control (AGC) monitor value (8191 = 100% of max gain)
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uint8 jamming_indicator # [-] [@range 0, 255] Continuous wave (CW) jamming indicator (0 = no CW jamming, 255 = strong CW jamming)
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uint8 jamming_state # [@enum JAMMING_STATE] Jamming state
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uint8 JAMMING_STATE_UNKNOWN = 0 # Unknown
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uint8 JAMMING_STATE_OK = 1 # No jamming detected
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uint8 JAMMING_STATE_WARNING = 2 # Interference visible but fix OK
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uint8 JAMMING_STATE_CRITICAL = 3 # Interference visible and no fix
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int8 i_offset # [-] [@range -128, 127] Imbalance of the I-part of the complex signal (0 = no imbalance)
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uint8 i_magnitude # [-] [@range 0, 255] Magnitude of the I-part of the complex signal (0 = no signal, 255 = max magnitude)
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int8 q_offset # [-] [@range -128, 127] Imbalance of the Q-part of the complex signal (0 = no imbalance)
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uint8 q_magnitude # [-] [@range 0, 255] Magnitude of the Q-part of the complex signal (0 = no signal, 255 = max magnitude)
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uint32 center_frequency # [Hz] Nominal center frequency of the RF block. 0 = unknown.
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# One topic per RF block ID
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# TOPICS sensor_gnss_rf_block0 sensor_gnss_rf_block1 sensor_gnss_rf_block2
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