vehicle_gps_position: remove timestamp_variance & timestamp_velocity (they're not used)

msg/vehicle_gps_position.msg

@@ -1,10 +1,10 @@
 # GPS position in WGS84 coordinates.
+# the auto-generated field 'timestamp' is for the position & velocity (microseconds)
 int32 lat			# Latitude in 1E-7 degrees
 int32 lon			# Longitude in 1E-7 degrees 
 int32 alt			# Altitude in 1E-3 meters above MSL, (millimetres)
 int32 alt_ellipsoid 		# Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
 
-uint64 timestamp_variance	# Time of the accuracy estimates since system start, (microseconds)
 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.   
@@ -18,7 +18,6 @@ float32 vdop			# Vertical dilution of precision
 int32 noise_per_ms		# GPS noise per millisecond
 int32 jamming_indicator		# indicates jamming is occurring
 
-uint64 timestamp_velocity	# Time of the velocity estimates since system start, (microseconds)
 float32 vel_m_s			# GPS ground speed, (metres/sec) 
 float32 vel_n_m_s		# GPS North velocity, (metres/sec) 
 float32 vel_e_m_s		# GPS East velocity, (metres/sec)

src/drivers/gps/devices

@@ -1 +1 @@
-Subproject commit 9e7ed8a5ea85c76c5d563413df051f138b9a0622
+Subproject commit 682fca425e6f3d67ac8062dcc9b36d8bca210175

src/drivers/gps/gps.cpp

@@ -691,13 +691,11 @@ GPS::task_main()
 			_report_gps_pos.lat = (int32_t)47.378301e7f;
 			_report_gps_pos.lon = (int32_t)8.538777e7f;
 			_report_gps_pos.alt = (int32_t)1200e3f;
-			_report_gps_pos.timestamp_variance = hrt_absolute_time();
 			_report_gps_pos.s_variance_m_s = 10.0f;
 			_report_gps_pos.c_variance_rad = 0.1f;
 			_report_gps_pos.fix_type = 3;
 			_report_gps_pos.eph = 0.9f;
 			_report_gps_pos.epv = 1.8f;
-			_report_gps_pos.timestamp_velocity = hrt_absolute_time();
 			_report_gps_pos.vel_n_m_s = 0.0f;
 			_report_gps_pos.vel_e_m_s = 0.0f;
 			_report_gps_pos.vel_d_m_s = 0.0f;
@@ -756,10 +754,8 @@ GPS::task_main()
 
 					_report_gps_pos.timestamp_time = hrt_absolute_time();
 
-					/* reset the timestamps for data, because we have no data yet */
+					/* reset the timestamp for data, because we have no data yet */
 					_report_gps_pos.timestamp = 0;
-					_report_gps_pos.timestamp_variance = 0;
-					_report_gps_pos.timestamp_velocity = 0;
 
 					/* set a massive variance */
 					_report_gps_pos.eph = 10000.0f;

src/modules/ekf2/ekf2_main.cpp

@@ -525,7 +525,7 @@ void Ekf2::task_main()
 			gps_msg.eph = gps.eph;
 			gps_msg.epv = gps.epv;
 			gps_msg.sacc = gps.s_variance_m_s;
-			gps_msg.time_usec_vel = gps.timestamp_velocity;
+			gps_msg.time_usec_vel = gps.timestamp;
 			gps_msg.vel_m_s = gps.vel_m_s;
 			gps_msg.vel_ned[0] = gps.vel_n_m_s;
 			gps_msg.vel_ned[1] = gps.vel_e_m_s;
@@ -910,7 +910,7 @@ void Ekf2::task_main()
 			// only write gps data if we had a gps update.
 			if (gps_updated) {
 				replay.time_usec = gps.timestamp;
-				replay.time_usec_vel = gps.timestamp_velocity;
+				replay.time_usec_vel = gps.timestamp;
 				replay.lat = gps.lat;
 				replay.lon = gps.lon;
 				replay.alt = gps.alt;

src/modules/mavlink/mavlink_receiver.cpp

@@ -1791,10 +1791,8 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 	hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m
 	hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m
 
-	hil_gps.timestamp_variance = timestamp;
 	hil_gps.s_variance_m_s = 5.0f;
 
-	hil_gps.timestamp_velocity = timestamp;
 	hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
 	hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
 	hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m

src/modules/position_estimator_inav/position_estimator_inav_main.cpp

@@ -1212,7 +1212,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				inertial_filter_correct(corr_gps[0][0], dt, x_est, 0, w_xy_gps_p);
 				inertial_filter_correct(corr_gps[1][0], dt, y_est, 0, w_xy_gps_p);
 
-				if (gps.vel_ned_valid && t < gps.timestamp_velocity + gps_topic_timeout) {
+				if (gps.vel_ned_valid && t < gps.timestamp + gps_topic_timeout) {
 					inertial_filter_correct(corr_gps[0][1], dt, x_est, 1, w_xy_gps_v);
 					inertial_filter_correct(corr_gps[1][1], dt, y_est, 1, w_xy_gps_v);
 				}

src/modules/uavcan/sensors/gnss.cpp

@@ -109,8 +109,6 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
 	report.lon = msg.longitude_deg_1e8 / 10;
 	report.alt = msg.height_msl_mm;
 
-	report.timestamp_variance = report.timestamp;
-
 
 	// Check if the msg contains valid covariance information
 	const bool valid_position_covariance = !msg.position_covariance.empty();
@@ -163,7 +161,6 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
 
 	report.fix_type = msg.status;
 
-	report.timestamp_velocity = report.timestamp;
 	report.vel_n_m_s = msg.ned_velocity[0];
 	report.vel_e_m_s = msg.ned_velocity[1];
 	report.vel_d_m_s = msg.ned_velocity[2];

src/platforms/posix/drivers/gpssim/gpssim.cpp

@@ -282,10 +282,8 @@ GPSSIM::receive(int timeout)
 	_report_gps_pos.lat = gps.lat;
 	_report_gps_pos.lon = gps.lon;
 	_report_gps_pos.alt = gps.alt;
-	_report_gps_pos.timestamp_variance = _report_gps_pos.timestamp;
 	_report_gps_pos.eph = (float)gps.eph * 1e-2f;
 	_report_gps_pos.epv = (float)gps.epv * 1e-2f;
-	_report_gps_pos.timestamp_velocity = _report_gps_pos.timestamp;
 	_report_gps_pos.vel_m_s = (float)(gps.vel) / 100.0f;
 	_report_gps_pos.vel_n_m_s = (float)(gps.vn) / 100.0f;
 	_report_gps_pos.vel_e_m_s = (float)(gps.ve) / 100.0f;
@@ -310,13 +308,11 @@ GPSSIM::task_main()
 			_report_gps_pos.lat = (int32_t)47.378301e7f;
 			_report_gps_pos.lon = (int32_t)8.538777e7f;
 			_report_gps_pos.alt = (int32_t)1200e3f;
-			_report_gps_pos.timestamp_variance = _report_gps_pos.timestamp;
 			_report_gps_pos.s_variance_m_s = 10.0f;
 			_report_gps_pos.c_variance_rad = 0.1f;
 			_report_gps_pos.fix_type = 3;
 			_report_gps_pos.eph = 0.9f;
 			_report_gps_pos.epv = 1.8f;
-			_report_gps_pos.timestamp_velocity = _report_gps_pos.timestamp;
 			_report_gps_pos.vel_n_m_s = 0.0f;
 			_report_gps_pos.vel_e_m_s = 0.0f;
 			_report_gps_pos.vel_d_m_s = 0.0f;
@@ -343,8 +339,6 @@ GPSSIM::task_main()
 			//Make sure to clear any stale data in case driver is reset
 			memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
 			_report_gps_pos.timestamp = hrt_absolute_time();
-			_report_gps_pos.timestamp_variance = hrt_absolute_time();
-			_report_gps_pos.timestamp_velocity = hrt_absolute_time();
 			_report_gps_pos.timestamp_time = hrt_absolute_time();
 
 			if (!(m_pub_blocked)) {