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Merge pull request #173 from BluEye-Robotics/av/navigation_sensor_data
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Enhanced Navigation Sensor data
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johannesschrimpf authored Nov 19, 2024
2 parents 1df2aba + f826f16 commit 434677f
Showing 1 changed file with 12 additions and 1 deletion.
13 changes: 12 additions & 1 deletion protobuf_definitions/message_formats.proto
Original file line number Diff line number Diff line change
Expand Up @@ -387,7 +387,7 @@ message ForwardDistance {
message PositionEstimate {
float northing = 1; // Position from reset point (m)
float easting = 2; // Position from reset point (m)
float heading = 3; // Gyro based heading estimate (continous radians)
float heading = 3; // Continuous heading estimate (rad)
float surge_rate = 4; // Velocity in surge (m/s)
float sway_rate = 5; // Velocity in sway (m/s)
float yaw_rate = 6; // Rotaion rate in yaw (rad/s)
Expand All @@ -396,6 +396,9 @@ message PositionEstimate {
bool is_valid = 9; // If the estimate can be trusted
LatLongPosition global_position = 10; // Best estimate of the global position in decimal degrees
repeated NavigationSensorStatus navigation_sensors = 11; // List of available sensors with status
float speed_over_ground = 12; // Speed over ground (m/s)
float course_over_ground = 13; // Course over ground (°)
int32 time_since_reset_sec = 14; // Time since reset (s)
}

// Heading source used during reset of the position estimate.
Expand Down Expand Up @@ -831,12 +834,20 @@ enum NavigationSensorID {
NAVIGATION_SENSOR_ID_WATERLINKED_DVL_A50 = 1; // Water Linked DVL A50
NAVIGATION_SENSOR_ID_WATERLINKED_UGPS_G2 = 2; // Water Linked UGPS G2
NAVIGATION_SENSOR_ID_NMEA = 3; // NMEA stream from external positioning system
NAVIGATION_SENSOR_ID_BLUEYE_GNSS = 4; // Blueye GNSS device on the ROV
NAVIGATION_SENSOR_ID_NORTEK_DVL_NUCLEUS = 5; // Nortek DVL Nucleus 1000
}

// Navigation sensor used in the position observer with validity state
message NavigationSensorStatus {
NavigationSensorID sensor_id = 1; // Sensor id
bool is_valid = 2; // Sensor validity
float northing = 3; // Position from reset point (m)
float easting = 4; // Position from reset point (m)
float heading = 5; // Heading from sensor (-pi..pi)
float fom = 6; // Figure of merit
float std = 7; // Standard deviation
LatLongPosition global_position = 8; // Global position from sensor
}

// GuestPort detach status.
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