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add jamming_state to gps sensor module 

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli 2021-01-29 21:55:29 +01:00 committed by Lorenz Meier
parent cadd2cf883
commit c2a68debd9
2 changed files with 2 additions and 0 deletions
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1
msg/sensor_gps.msg
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@ -19,6 +19,7 @@ float32 vdop # Vertical dilution of precision
int32 noise_per_ms # GPS noise per millisecond
int32 jamming_indicator # indicates jamming is occurring
uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
float32 vel_m_s # GPS ground speed, (metres/sec)
float32 vel_n_m_s # GPS North velocity, (metres/sec)

1
src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp
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@ -687,6 +687,7 @@ void VehicleGPSPosition::Publish(const sensor_gps_s &gps, uint8_t selected)
gps_output.vdop = gps.vdop;
gps_output.noise_per_ms = gps.noise_per_ms;
gps_output.jamming_indicator = gps.jamming_indicator;
gps_output.jamming_state = gps.jamming_state;
gps_output.vel_m_s = gps.vel_m_s;
gps_output.vel_n_m_s = gps.vel_n_m_s;
gps_output.vel_e_m_s = gps.vel_e_m_s;