Apollo
10.0
自动驾驶开放平台
gnss_status.proto
浏览该文件的文档.
1
syntax
=
"proto2"
;
2
3
package
apollo.drivers.gnss;
4
5
import
"
modules/common_msgs/basic_msgs/header.proto
";
6
7
message
StreamStatus
{
8
optional
apollo
.
common
.
Header
header = 1;
9
enum
Type
{
10
DISCONNECTED = 0;
11
CONNECTED = 1;
12
}
13
14
optional
Type
ins_stream_type = 2 [
default
= DISCONNECTED];
15
optional
Type
rtk_stream_in_type = 3 [
default
= DISCONNECTED];
16
optional
Type
rtk_stream_out_type = 4 [
default
= DISCONNECTED];
17
}
18
19
message
InsStatus
{
20
optional
apollo
.
common
.
Header
header = 1;
21
22
enum
Type
{
23
// Invalid solution due to insufficient observations, no initial GNSS, ...
24
INVALID = 0;
25
26
// Use with caution. The covariance matrix may be unavailable or incorrect.
27
// High-variance result due to aligning, insufficient vehicle dynamics, ...
28
CONVERGING = 1;
29
30
// Safe to use. The INS has fully converged.
31
GOOD = 2;
32
}
33
optional
Type
type = 2 [
default
= INVALID];
34
}
35
36
message
GnssStatus
{
37
optional
apollo
.
common
.
Header
header = 1;
38
optional
bool
solution_completed = 2 [
default
=
false
];
39
optional uint32 solution_status = 3 [
default
= 0];
40
optional uint32 position_type = 4 [
default
= 0];
41
// Number of satellites in position solution.
42
optional int32 num_sats = 5 [
default
= 0];
43
}
syntax
syntax
Definition
gnss_status.proto:1
header.proto
apollo::common
apollo::common
apollo
class register implement
Definition
arena_queue.h:37
apollo::common::Header
Definition
header.proto:7
apollo::drivers::gnss::GnssStatus
Definition
gnss_status.proto:36
apollo::drivers::gnss::InsStatus
Definition
gnss_status.proto:19
apollo::drivers::gnss::InsStatus::Type
Type
Definition
gnss_status.proto:22
apollo::drivers::gnss::StreamStatus
Definition
gnss_status.proto:7
apollo::drivers::gnss::StreamStatus::Type
Type
Definition
gnss_status.proto:9
modules
drivers
gnss
proto
gnss_status.proto