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 begood
,medium
, orbad
xxx_quality_with_fix
: same as xxx quality but preceded by xxx quality fix searchsmartphone
: 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_east_m_expr
position_north_m_expr
position_up_m_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 |
---|---|---|
delay_ms |
Delay of the GPS in milliseconds. |
integer |
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: |
string |
fix_mode |
Current fix mode. Possible values are: |
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 |
DEPRECATED. Delay of the GPS as a number of samples. |
integer |
out_of_order |
If |
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 [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: |
string |
position_east_m_expr |
Expression of drone position in Gazebo system coordinates - East direction [meters]. |
string |
position_north_m_expr |
Expression of drone position in Gazebo system coordinates - North direction [meters]. |
string |
position_up_m_expr |
Expression of drone AMSL altitude [meters]. |
string |
quality |
Quality indicator for position fix. Possible values are: |
integer |
range_rms_expr |
Arbitrary value of the RMS value of the standard deviation of ranges. Expression supported. |
string |
rtk_fix_status |
RTK fix status. Possible values are: |
string |
selection_mode |
Selection mode for the fix. Possible values are: |
string |
speed_accuracy_mps_expr |
Arbitrary value of the speed accuracy estimate [m/s]. Expression supported. |
string |
status |
Navigation receiver status. Possible values are: |
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 [Hz]. |
floating-point number |
vdop_expr |
Arbitrary value of the vertical dilution of precision (VDOP). Expression supported. |
string |
velocity_east_expr |
Expression defining drone velocity along East direction [m/s]. |
string |
velocity_north_expr |
Expression defining drone velocity along North direction [m/s]. |
string |
velocity_up_expr |
Expression defining drone vertical velocity [m/s]. |
string |