add first version of gnns

ds015/physics/kinematics/geodetic/Point.0.1.dsdl

@@ -0,0 +1,10 @@
+# Geodetic position: latitude, longitude, and altitude.
+# The order is chosen to match the axis ordering of the NED frame.
+
+float64 latitude   # [radian]
+float64 longitude  # [radian]
+
+uavcan.si.unit.length.Scalar.1.0 altitude
+# Distance between the local mean sea level (MSL) and the focal point of the antenna. Positive altitude above the MSL.
+
+@sealed

ds015/service/gnss/Covariance.0.1.dsdl

@@ -0,0 +1,14 @@
+# This message outputs the covariance matrices for the position and velocity
+# solutions in the topocentric coordinate system defined as the local-level
+# North (N), East (E), Down (D) frame. As the covariance matrices are
+# symmetric, only the upper triangular part is output.
+
+float16[6] point_covariance_urt   # [meter^2]
+# Upper-right triangle of the covariance matrix.
+# The position covariance is defined relative to a tangential plane through the specified latitude/longitude.
+# Element ordering: latitude, longitude, altitude. It is chosen to match the axis ordering of the NED frame.
+
+float16[6] velocity_covariance_urt   # [meter^2]
+# [(meter/second)^2] Upper-right triangle of the covariance matrix.
+
+@sealed

ds015/service/gnss/Gnss.0.1.dsdl

@@ -0,0 +1,33 @@
+# A generic GNSS information.
+
+Status.0.1 status
+
+uint32 time_week_ms
+uint16 time_week
+# Time of week (TOW) timestamp indicates the GPS time at which the navigation epoch occurred.
+
+ds015.physics.kinematics.geodetic.Point.0.1 point
+uavcan.si.unit.velocity.Vector3.1.0 velocity
+uavcan.si.unit.angle.Scalar.1.0 yaw
+
+float16 horizontal_accuracy
+# Horizontal RMS accuracy estimate in m
+
+float16 vertical_accuracy
+# Vertical RMS accuracy estimate in m
+
+float16 speed_accuracy
+# 3D velocity RMS accuracy estimate in m/s
+
+uavcan.si.unit.angle.Scalar.1.0 yaw_accuracy
+# heading accuracy of the GPS in radians
+
+float16 hdop
+# Horizontal dilution of precision in meters
+
+float16 vdop
+# Vertical dilution of precision in meters
+
+uint8 num_sats
+
+@sealed

ds015/service/gnss/RelativePosition.0.1.dsdl

@@ -0,0 +1,11 @@
+# Relative positioning information in NED frame
+# This message contains the relative position vector from the reference station to the rover.
+
+uint32 time_week_ms
+uint16 time_week
+# Time of week (TOW) timestamp indicates the GPS time at which the navigation epoch occurred.
+
+uavcan.si.unit.length.Vector3.1.0 relative_position
+# Alternatively, we can create physics.kinematics.cartesian.Point.0.1 with float32
+
+@sealed

ds015/service/gnss/Status.0.1.dsdl

@@ -0,0 +1,35 @@
+# A generic GNSS information.
+
+truncated uint2 status
+uint2 STATUS_NO_FIX = 0
+uint2 STATUS_TIME_ONLY = 1
+uint2 STATUS_2D_FIX = 2
+uint2 STATUS_3D_FIX = 3
+
+truncated uint2 mode
+uint2 MODE_SINGLE      = 0
+uint2 MODE_DGPS        = 1
+uint2 MODE_RTK         = 2
+uint2 MODE_PPP         = 3
+
+truncated uint2 sub_mode
+uint2 SUB_MODE_DGPS_OTHER    = 0
+uint2 SUB_MODE_DGPS_SBAS     = 1
+uint2 SUB_MODE_RTK_FLOAT     = 0
+uint2 SUB_MODE_RTK_FIXED     = 1
+
+truncated uint2 jamming_state
+uint2 JAMMING_STATE_UNKNOWN     = 0
+uint2 JAMMING_STATE_OK          = 1
+uint2 JAMMING_STATE_WARNING     = 2
+uint2 JAMMING_STATE_CRITICAL    = 3
+# Indicates whether jamming has been detected or suspected by the receivers
+
+truncated uint2 spoofing_state
+uint2 SPOOFING_STATE_UNKNOWN    = 0
+uint2 SPOOFING_STATE_NONE       = 1
+uint2 SPOOFING_STATE_INDICATED  = 2
+uint2 SPOOFING_STATE_MULTIPLE   = 3
+# Indicates whether spoofing has been detected or suspected by the receivers
+
+@sealed