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How to differentiate float vs fix status in an RTK system?

asked 2021-04-27 06:30:22 -0600

updated 2021-04-27 08:18:14 -0600

As mentioned in this question , the NavSatStatus message has a field for status, with 4 options: No fix, fix, fix with satellite augmentation, fix with ground-based augmentation.

However, the GNSS receiver I am using in an RTK setup provides three solution status: Single, Float and Fix, but after using the nmea_navsat_driver node, Float and Fix are reported simply as "Fix", here below are 2 plot of the same test, on the left is the data from a rosbag file, and on the right is the log provided by the GNSS receiver.

image description

Is there a way to get that status as part of the ROS message or should I implement/modify the nmea_navsat_driver node and the NavSatStatus message?

EDIT 1:

Just found this issue ticket at github, but it looks like it's silently ignored

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answered 2021-04-30 04:17:43 -0600

xaru8145 gravatar image

Have you checked the covariance? Maybe the driver is not providing a field status differentiation fix/float but is setting the covariances accordingly.

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Asked: 2021-04-27 06:30:22 -0600

Seen: 378 times

Last updated: Apr 30 '21