Apollo 10.0
自动驾驶开放平台
gnss_status.proto
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1syntax = "proto2";
2
3package apollo.drivers.gnss;
4
6
7message 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
19message 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
36message 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
apollo::common
class register implement
Definition arena_queue.h:37