Add GnssStatusTel telemetry for the Blueye GNSS receiver

protobuf_definitions/message_formats.proto

@@ -1261,6 +1261,68 @@ message NavigationSensorStatus {
   LatLongPosition global_position = 8; // Global position from sensor.
 }
 
+// Position fix mode reported by the NMEA GSA sentence.
+enum GnssFixMode {
+  GNSS_FIX_MODE_UNSPECIFIED = 0; // No GSA sentence has been received.
+  GNSS_FIX_MODE_NO_FIX = 1; // The receiver has no position fix.
+  GNSS_FIX_MODE_2D = 2; // Horizontal fix only, no usable altitude.
+  GNSS_FIX_MODE_3D = 3; // Full three dimensional fix.
+}
+
+// GNSS constellation a satellite belongs to.
+enum GnssConstellation {
+  GNSS_CONSTELLATION_UNSPECIFIED = 0; // Unspecified.
+  GNSS_CONSTELLATION_GPS = 1; // GPS.
+  GNSS_CONSTELLATION_GLONASS = 2; // GLONASS.
+  GNSS_CONSTELLATION_GALILEO = 3; // Galileo.
+  GNSS_CONSTELLATION_BEIDOU = 4; // BeiDou.
+}
+
+// Satellite tracked by the Blueye GNSS receiver.
+message GnssSatellite {
+  GnssConstellation constellation = 1; // Constellation the satellite belongs to.
+  uint32 satellite_id = 2; // Satellite id within the constellation.
+  uint32 snr = 3; // Carrier to noise ratio (dB-Hz).
+  int32 elevation = 4; // Elevation above the horizon (°, 0..90), or -1 when the receiver did not report it.
+  int32 azimuth = 5; // Azimuth clockwise from true north (°, 0..359), or -1 when the receiver did not report it.
+  bool used_in_fix = 6; // Whether GSA lists the satellite as used in the fix. Only meaningful if is_used_in_fix_valid.
+}
+
+// Status of the onboard Blueye GNSS receiver and its driver.
+message GnssStatus {
+  bool receiver_connected = 1; // True when the receiver is connected and producing NMEA sentences.
+  uint32 fix_quality = 2; // NMEA GGA fix quality indicator (0 = no fix).
+  bool is_valid = 3; // True when the receiver reports a usable position fix.
+  uint32 satellites_used = 4; // Number of satellites used in the position fix.
+  uint32 satellites_tracked = 5; // Satellites in the satellites list: those with a signal, seen within the last 30 s.
+  uint32 satellites_in_view = 17; // Satellites the receiver reports in view, summed over the constellations.
+  bool is_used_in_fix_valid = 20; // True when GSA could be attributed to a constellation, making used_in_fix usable.
+  GnssFixMode fix_mode = 21; // Fix mode from GSA (2D/3D).
+  float hdop = 6; // Horizontal dilution of precision.
+  float pdop = 22; // Position (3D) dilution of precision, from GSA.
+  float vdop = 23; // Vertical dilution of precision, from GSA.
+  LatLongPosition global_position = 7; // Reported global position.
+  float altitude = 24; // Altitude above mean sea level (m), from GGA.
+  float stddev_latitude = 8; // Standard deviation of the latitude (m). Meaningless unless is_accuracy_valid.
+  float stddev_longitude = 9; // Standard deviation of the longitude (m). Meaningless unless is_accuracy_valid.
+  float stddev_altitude = 25; // Standard deviation of the altitude (m). Meaningless unless is_accuracy_valid.
+  float stddev_semi_major = 26; // Semi-major axis of the horizontal error ellipse (m).
+  float stddev_semi_minor = 27; // Semi-minor axis of the horizontal error ellipse (m).
+  float error_ellipse_orientation = 28; // Orientation of the semi-major axis, clockwise from true north (°).
+  float range_rms = 29; // RMS of the range residuals (m), from GST.
+  bool is_accuracy_valid = 18; // True once the receiver has reported a GST sentence to derive the deviations from.
+  float course_over_ground = 10; // Course over ground (°). Meaningless unless is_course_valid.
+  bool is_course_valid = 19; // True when the fix is valid and the receiver actually reported a course.
+  float speed_over_ground = 11; // Speed over ground (m/s).
+  float differential_age = 30; // Age of the differential corrections (s), or -1 without DGPS/RTK.
+  int32 differential_station = 31; // Id of the station supplying the differential corrections, or -1 when absent.
+  uint32 baud_rate = 12; // Serial baud rate in use (bit/s).
+  uint32 reconnect_count = 13; // Times the driver has reconnected to the receiver since boot.
+  uint32 receive_error_count = 14; // Receive errors seen by the driver since boot.
+  float time_since_last_sentence = 15; // Time since the last NMEA sentence was received (s).
+  repeated GnssSatellite satellites = 16; // Satellites currently tracked with signal strength.
+}
+
 // Status for guest port devices that can be attached and detached.
 enum GuestPortDetachStatus {
   GUEST_PORT_DETACH_STATUS_UNSPECIFIED = 0; // Unspecified (Default for non-detachable devices).

protobuf_definitions/telemetry.proto

@@ -97,6 +97,11 @@ message PilotGPSPositionTel {
   LatLongPosition position = 1; // The GPS position of the pilot.
 }
 
+// Status of the onboard Blueye GNSS receiver and its driver.
+message GnssStatusTel {
+  GnssStatus gnss_status = 1; // Status of the Blueye GNSS receiver.
+}
+
 // Record state from the drone.
 message RecordStateTel {
   RecordState record_state = 1; // Record state.