From f6478831aa793273607ee2dfe7fe3feaba9a3569 Mon Sep 17 00:00:00 2001 From: Andreas Viggen Date: Tue, 12 Nov 2024 17:02:52 +0100 Subject: [PATCH 1/5] Add new navigation sensor fields --- protobuf_definitions/message_formats.proto | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/protobuf_definitions/message_formats.proto b/protobuf_definitions/message_formats.proto index cad1a91f..ace7a95b 100644 --- a/protobuf_definitions/message_formats.proto +++ b/protobuf_definitions/message_formats.proto @@ -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 in seconds } // Heading source used during reset of the position estimate. @@ -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 (continous radians) + float fom = 6; // Figure of merit + float std = 7; // Standard deviation + LatLongPosition global_position = 8; // Global position from sensor } // GuestPort detach status. From 6c53f0498219e0d960027d2262f55b1ec2f84508 Mon Sep 17 00:00:00 2001 From: Andreas Viggen Date: Tue, 12 Nov 2024 17:03:03 +0100 Subject: [PATCH 2/5] Typo --- protobuf_definitions/message_formats.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/protobuf_definitions/message_formats.proto b/protobuf_definitions/message_formats.proto index ace7a95b..434324e5 100644 --- a/protobuf_definitions/message_formats.proto +++ b/protobuf_definitions/message_formats.proto @@ -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; // Heading estimate (continous radians) 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) From 46c36930ac966b3e7106477abbbfca6557335a20 Mon Sep 17 00:00:00 2001 From: Andreas Viggen Date: Mon, 18 Nov 2024 10:51:56 +0100 Subject: [PATCH 3/5] Update range --- protobuf_definitions/message_formats.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/protobuf_definitions/message_formats.proto b/protobuf_definitions/message_formats.proto index 08649dd4..48e0c3c2 100644 --- a/protobuf_definitions/message_formats.proto +++ b/protobuf_definitions/message_formats.proto @@ -844,7 +844,7 @@ message NavigationSensorStatus { 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 (continous radians) + 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 From 0a3a88a0272916ec198a72c60c21e8ecda00f07b Mon Sep 17 00:00:00 2001 From: johannesschrimpf Date: Tue, 19 Nov 2024 12:08:17 +0100 Subject: [PATCH 4/5] Update comment --- protobuf_definitions/message_formats.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/protobuf_definitions/message_formats.proto b/protobuf_definitions/message_formats.proto index 48e0c3c2..a7afdb83 100644 --- a/protobuf_definitions/message_formats.proto +++ b/protobuf_definitions/message_formats.proto @@ -398,7 +398,7 @@ message PositionEstimate { 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 in seconds + int32 time_since_reset_sec = 14; // Time since reset (s) } // Heading source used during reset of the position estimate. From f826f167db33dc676fdd90f8a121e15a26c6f4b4 Mon Sep 17 00:00:00 2001 From: johannesschrimpf Date: Tue, 19 Nov 2024 12:11:35 +0100 Subject: [PATCH 5/5] Update comment --- protobuf_definitions/message_formats.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/protobuf_definitions/message_formats.proto b/protobuf_definitions/message_formats.proto index a7afdb83..ba26147a 100644 --- a/protobuf_definitions/message_formats.proto +++ b/protobuf_definitions/message_formats.proto @@ -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; // 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)