From db646e12922d89919c23f814ab21d8ae36db2a34 Mon Sep 17 00:00:00 2001
From: EmmanuelMess <emmanuelbendavid@gmail.com>
Date: Wed, 5 Mar 2025 20:03:13 -0300
Subject: [PATCH] Update navsat proto to include covariance

---
 proto/gz/msgs/navsat.proto | 57 ++++++++++++++++++++++++++++++++------
 1 file changed, 49 insertions(+), 8 deletions(-)

diff --git a/proto/gz/msgs/navsat.proto b/proto/gz/msgs/navsat.proto
index 5c843a03..6a8513e0 100644
--- a/proto/gz/msgs/navsat.proto
+++ b/proto/gz/msgs/navsat.proto
@@ -26,30 +26,71 @@ option java_outer_classname = "NavSatProtos";
 /// This replaces the GPS message.
 
 import "gz/msgs/header.proto";
+import "gz/msgs/double_v.proto";
 
 message NavSat
 {
   /// \brief Optional header data
-  Header header                = 1;
+  Header header                   = 1;
 
   /// \brief Latitude in degrees
-  double latitude_deg          = 2;
+  double latitude_deg             = 2;
 
   /// \brief Longitude in degrees
-  double longitude_deg         = 3;
+  double longitude_deg            = 3;
 
   /// \brief Altitude in meters
-  double altitude              = 4;
+  double altitude                 = 4;
+   
+  /// \brief Covariance or dilution of precision (DoP) 9 of the position
+  /// Position covariance [m^2] defined relative to a tangential plane
+  /// through the reported position. The components are East, North, and
+  /// Up (ENU), in row-major order.
+  /// For more information see From Global Positioning System: Signals,
+  /// Measurements, and Performance section 6.1.2
+  Double_V position_covariance    = 5;
+  
+  /// \brief Position covariance information availability
+  /// If the Dilution of Precision or covariance of the fix is known, fill
+  /// it in completely. If the GPS receiver provides the variance of each
+  /// measurement, put them along the diagonal. If only DoP parameters are
+  /// available, estimate an approximate covariance from that.
+  /// Possible values are:
+  /// - COVARIANCE_TYPE_UNKNOWN = 0
+  /// - COVARIANCE_TYPE_APPROXIMATED = 1
+  /// - COVARIANCE_TYPE_DIAGONAL_KNOWN = 2
+  /// - COVARIANCE_TYPE_KNOWN = 3
+  uint32 position_covariance_type = 6;
 
   /// \brief East velocity in the ENU frame, in m / s
-  double velocity_east         = 5;
+  double velocity_east            = 7;
 
   /// \brief North velocity in the ENU frame, in m / s
-  double velocity_north        = 6;
+  double velocity_north           = 8;
 
   /// \brief Up velocity in the ENU frame, in m / s
-  double velocity_up           = 7;
+  double velocity_up              = 9;
+
+  /// \brief Covariance or dilution of precision (DoP) 9 of the velocity
+  /// Position covariance [(m/s)^2] defined relative to a tangential plane
+  /// through the reported position. The components are East, North, and
+  /// Up (ENU), in row-major order.
+  /// For more information see From Global Positioning System: Signals,
+  /// Measurements, and Performance section 6.2.1
+  Double_V velocity_covariance    = 10;
+  
+  /// \brief Velocity covariance information availability
+  /// If the Dilution of Precision or covariance of the fix is known, fill
+  /// it in completely. If the GPS receiver provides the variance of each
+  /// measurement, put them along the diagonal. If only DoP parameters are
+  /// available, estimate an approximate covariance from that.
+  /// Possible values are:
+  /// - COVARIANCE_TYPE_UNKNOWN = 0
+  /// - COVARIANCE_TYPE_APPROXIMATED = 1
+  /// - COVARIANCE_TYPE_DIAGONAL_KNOWN = 2
+  /// - COVARIANCE_TYPE_KNOWN = 3
+  uint32 velocity_covariance_type = 11;
 
   /// \brief ID of reference frame
-  string frame_id              = 8;
+  string frame_id                 = 12;
 }