mirror of
https://github.com/commaai/msgq.git
synced 2026-06-10 15:05:15 +08:00
23
log.capnp
23
log.capnp
@@ -1178,6 +1178,7 @@ struct GnssMeasurements {
|
||||
gpsTimeOfWeek @2 :Float64;
|
||||
|
||||
correctedMeasurements @3 :List(CorrectedMeasurement);
|
||||
ephemerisStatuses @9 :List(EphemerisStatus);
|
||||
|
||||
kalmanPositionECEF @4 :LiveLocationKalman.Measurement;
|
||||
kalmanVelocityECEF @5 :LiveLocationKalman.Measurement;
|
||||
@@ -1186,6 +1187,13 @@ struct GnssMeasurements {
|
||||
timeToFirstFix @8 :Float32;
|
||||
# Todo sync this with timing pulse of ublox
|
||||
|
||||
struct EphemerisStatus {
|
||||
constellationId @0 :ConstellationId;
|
||||
svId @1 :UInt8;
|
||||
type @2 :EphemerisType;
|
||||
source @3 :EphemerisSource;
|
||||
}
|
||||
|
||||
struct CorrectedMeasurement {
|
||||
constellationId @0 :ConstellationId;
|
||||
svId @1 :UInt8;
|
||||
@@ -1198,11 +1206,11 @@ struct GnssMeasurements {
|
||||
# Satellite position and velocity [x,y,z]
|
||||
satPos @7 :List(Float64);
|
||||
satVel @8 :List(Float64);
|
||||
ephemerisSource @9 :EphemerisSource;
|
||||
ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED;
|
||||
}
|
||||
|
||||
struct EphemerisSource {
|
||||
type @0 :EphemerisSourceType;
|
||||
struct EphemerisSourceDEPRECATED {
|
||||
type @0 :EphemerisType;
|
||||
# first epoch in file:
|
||||
gpsWeek @1 :Int16; # -1 if Nav
|
||||
gpsTimeOfWeek @2 :Int32; # -1 if Nav. Integer for seconds is good enough for logs.
|
||||
@@ -1219,13 +1227,20 @@ struct GnssMeasurements {
|
||||
glonass @6;
|
||||
}
|
||||
|
||||
enum EphemerisSourceType {
|
||||
enum EphemerisType {
|
||||
nav @0;
|
||||
# Different ultra-rapid files:
|
||||
nasaUltraRapid @1;
|
||||
glonassIacUltraRapid @2;
|
||||
qcom @3;
|
||||
}
|
||||
|
||||
enum EphemerisSource {
|
||||
gnssChip @0;
|
||||
internet @1;
|
||||
cache @2;
|
||||
unknown @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct UbloxGnss {
|
||||
|
||||
Reference in New Issue
Block a user