struct GnssFixData
fbs/sensors.fbs / Source schema
Global navigation satellite receiver fix and motion estimate. This is a raw-layer topic: angles keep the receiver’s native convention (clockwise from true north) so logs stay faithful to the hardware; the estimator converts to REP-0103 conventions for estimate-layer topics.
FlatBuffers root table: GnssFix
| Name | Type | Unit / Scale | Notes |
|---|---|---|---|
timestamp_us | ulong | microseconds | Fix timestamp in monotonic boot time. |
time_unix_us | ulong | microseconds | Receiver-reported Unix time of the fix; valid when GnssFixFlags.TimeValid is set. |
latitude_deg_e7 | int | degrees scaled by 1e7; int32 preserves global-coordinate precision | Latitude in WGS-84 degrees scaled by 1e7. |
longitude_deg_e7 | int | degrees scaled by 1e7; int32 preserves global-coordinate precision | Longitude in WGS-84 degrees scaled by 1e7. |
altitude_msl_mm | int | millimeters | Height above mean sea level. |
altitude_ellipsoid_mm | int | millimeters | Height above the WGS-84 ellipsoid. |
horizontal_accuracy_mm | ushort | millimeters | One-sigma horizontal accuracy; producers must saturate at 65535, never truncation-cast (65535 means at or above 65.535 m, unusable). |
vertical_accuracy_mm | ushort | millimeters | One-sigma vertical accuracy; producers must saturate at 65535, never truncation-cast. |
velocity_accuracy_mm_s | ushort | millimeters per second | One-sigma velocity accuracy; producers must saturate at 65535, never truncation-cast. |
yaw_accuracy_cdeg | ushort | centidegrees; degrees = value / 100 | One-sigma yaw accuracy when receiver yaw is available. |
hdop_centi | ushort | centi-units; value / 100 | Horizontal dilution of precision scaled by 100. |
vdop_centi | ushort | centi-units; value / 100 | Vertical dilution of precision scaled by 100. |
ground_speed_cm_s | ushort | centimeters per second | Horizontal ground speed magnitude. |
course_over_ground_cdeg | ushort | centidegrees; degrees = value / 100 | Course over ground, receiver native: zero at true north, positive clockwise; valid when CourseValid is set. |
yaw_cdeg | ushort | centidegrees; degrees = value / 100 | Receiver-reported vehicle yaw, zero at true north, positive clockwise; valid when YawValid is set. |
velocity_up_cm_s | short | centimeters per second | Vertical velocity, positive up; valid when VelocityUpValid is set. |
flags | ubyte | bitmask | Bitmask of GnssFixFlags bits. |
fix_type | synapse.types.GnssFixType | Receiver fix quality. | |
satellites_used | ubyte | Number of satellites used in the solution. | |
satellites_visible | ubyte | Number of satellites tracked or visible. | |
id | ubyte | GNSS receiver instance identifier; also the instance segment of the Zenoh key. |