Update message definitions Wed Jul 10 07:39:17 UTC 2024

PX4 · Jul 10, 2024 · 808c5b5 · 808c5b5
1 parent ff09a6f
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diff --git a/msg/EstimatorGpsStatus.msg b/msg/EstimatorGpsStatus.msg
@@ -13,6 +13,7 @@ bool check_fail_max_horz_drift   # 6 : maximum allowed horizontal position drift
 bool check_fail_max_vert_drift   # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
 bool check_fail_max_horz_spd_err # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
 bool check_fail_max_vert_spd_err # 9 : maximum allowed vertical velocity discrepancy fail
+bool check_fail_spoofed_gps      # 10 : GPS signal is spoofed
 
 float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s)
 float32 position_drift_rate_vertical_m_s   # Vertical position rate magnitude (m/s)

diff --git a/msg/EstimatorStatus.msg b/msg/EstimatorStatus.msg
@@ -15,6 +15,7 @@ uint8 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 6		# 6 : maximum allowed horizontal positi
 uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7		# 7 : maximum allowed vertical position drift fail - requires stationary vehicle
 uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8	# 8 : maximum allowed horizontal speed fail - requires stationary vehicle
 uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9	# 9 : maximum allowed vertical velocity discrepancy fail
+uint8 GPS_CHECK_FAIL_SPOOFED = 10		# 10 : GPS signal is spoofed
 
 uint64 control_mode_flags	# Bitmask to indicate EKF logic state
 uint8 CS_TILT_ALIGN = 0		# 0 - true if the filter tilt alignment is complete

diff --git a/msg/EstimatorStatusFlags.msg b/msg/EstimatorStatusFlags.msg
@@ -43,6 +43,8 @@ bool cs_mag                     # 35 - true if 3-axis magnetometer measurement f
 bool cs_ev_yaw_fault            # 36 - true when the EV heading has been declared faulty and is no longer being used
 bool cs_mag_heading_consistent  # 37 - true when the heading obtained from mag data is declared consistent with the filter
 bool cs_aux_gpos                # 38 - true if auxiliary global position measurement fusion is intended
+bool cs_rng_terrain             # 39 - true if we are fusing range finder data for terrain
+bool cs_opt_flow_terrain        # 40 - true if we are fusing flow data for terrain
 
 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes

diff --git a/msg/VehicleLocalPosition.msg b/msg/VehicleLocalPosition.msg
@@ -56,6 +56,7 @@ float32 ref_alt				# Reference altitude AMSL, (metres)
 
 # Distance to surface
 float32 dist_bottom			# Distance from from bottom surface to ground, (metres)
+float32 dist_bottom_var                 # terrain estimate variance (m^2)
 bool dist_bottom_valid			# true if distance to bottom surface is valid
 uint8 dist_bottom_sensor_bitfield	# bitfield indicating what type of sensor is used to estimate dist_bottom
 uint8 DIST_BOTTOM_SENSOR_NONE = 0