GPS#

The GPS sensor can be configured to use prerecorded data to simulate different scenarios:

  • xxx_quality: scenario where GPS data are of xxx quality where xxx can be good, medium, or bad

  • xxx_quality_with_fix: same as xxx quality but preceded by xxx quality fix search

  • smartphone: scenario where GPS data contain errors typical from a smartphone

To deactivate the use of prerecorded data, set empirical_error_mode to an empty string. By default, empirical_error_mode is set to an empty string, except for ANAFI Ai for which it is set to good_quality.

Note

Some GPS parameters are expressions that are expected to modify the corresponding perfect output accessible via the val variable. These are:

  • position_lat_expr

  • position_lng_expr

  • position_alt_expr

  • velocity_east_expr

  • velocity_north_expr

  • velocity_up_expr

Others are expressions that directly set arbitrary values:

  • pos_accuracy_m_expr

  • speed_accuracy_mps_expr

  • pdop_expr

  • hdop_expr

  • vdop_expr

  • range_rms_expr

  • std_lat_expr

  • std_long_expr

  • std_alt_expr

  • num_sv_expr

All parameters#

Name

Description

Expected type

delta_position

Relative position of the GPS sensor in body frame in meters.

3-component vector

empirical_error_mode

Empirical Error Mode. If set to a mode name supported by the simulated drone, replays predefined errors over several GPS variables.

string

faa_mode_indicator

(FAA) Mode indicator. Possible values are: `N` (No Fix), `A` (Autonomous GNSS Fix), `D` (Differential GNSS Fix), `E` (Estimated/Dead Reckoning Fix).

string

fix_mode

Current fix mode. Possible values are: `1` (Fix not available) `2` (2D mode selected) `3` (3D mode selected).

integer

hdop_expr

Arbitrary value of the horizontal dilution of precision (HDOP). Expression supported.

string

num_sv_expr

Arbitrary value of the number of satellites. Expression supported.

string

number_delay_samples

Delay of the GPS as a number of samples.

integer

out_of_order

If true, put the sensor out of service.

boolean

pdop_expr

Arbitrary value of the position dilution of precision. Expression supported.

string

pos_accuracy_m_expr

Arbitrary value of the position accuracy estimate in meters. Expression supported.

string

pos_mode

Positioning mode. Composed of two character, the first character is for GPS and second character is for GLONASS. The signification of each character is as follows: `N` (Constellation not in use, or no valid fix), `A` (Autonomous (non-differential)), `D` (Differential mode), `P` (Precise (no degradation, like Selective Availability)), `R` (Real Time Kinematic), `F` (Float RTK), `E` (Estimated (dead reckoning) Mode), `M` (Manual Input Mode), `S` (Simulator Mode).

string

position_alt_expr

Expression altering altitude position.

string

position_lat_expr

Expression altering latitude position.

string

position_lng_expr

Expression altering latitude position.

string

quality

Quality indicator for position fix. Possible values are: `0` (No Fix), `1` (Autonomous GNSS Fix), `2` (Differential GNSS Fix), `6` (Estimated/Dead Reckoning Fix).

integer

range_rms_expr

Arbitrary value of the RMS value of the standard deviation of ranges. Expression supported.

string

selection_mode

Selection mode for the fix. Possible values are: `M` (Manual (forced to operate in 2D or 3D)) `A` (Automatic (2D or 3D)).

string

speed_accuracy_mps_expr

Arbitrary value of the speed accuracy estimate in m/s. Expression supported.

string

status

Navigation receiver status. Possible values are: ā€˜Aā€™ (Valid) or ā€˜Vā€™ (Navigation receiver warning).

string

std_alt_expr

Arbitrary value of the standard deviation for the altitude error. Expression supported.

string

std_lat_expr

Arbitrary value of the standard deviation for the latitude error. Expression supported.

string

std_long_expr

Arbitrary value of the standard deviation for the longitude error. Expression supported.

string

update_rate

Sensor frequency in Hz.

floating-point number

vdop_expr

Arbitrary value of the vertical dilution of precision (VDOP). Expression supported.

string

velocity_east_expr

Expression altering latitude velocity.

string

velocity_north_expr

Expression altering longitude velocity.

string

velocity_up_expr

Expression altering altitude velocity.

string