Update SensorGps.msg to improve naming

msg/SensorGps.msg

@@ -1,72 +1,71 @@
 # GPS position in WGS84 coordinates.
-# the field 'timestamp' is for the position & velocity (microseconds)
-uint64 timestamp		# time since system start (microseconds)
+uint64 timestamp              # Time since system start (microseconds)
 uint64 timestamp_sample
 
-uint32 device_id                # unique device ID for the sensor that does not change between power cycles
+uint32 device_id              # Unique device ID for the sensor that does not change between power cycles
 
-float64 latitude_deg		# Latitude in degrees, allows centimeter level RTK precision
-float64 longitude_deg		# Longitude in degrees, allows centimeter level RTK precision
-float64 altitude_msl_m		# Altitude above MSL, meters
-float64 altitude_ellipsoid_m	# Altitude above Ellipsoid, meters
+float64 latitude              # Latitude in degrees (allows centimeter level RTK precision)
+float64 longitude             # Longitude in degrees (allows centimeter level RTK precision)
+float64 altitude_msl          # Altitude above MSL (meters)
+float64 altitude_ellipsoid    # Altitude above Ellipsoid (meters)
 
-float32 s_variance_m_s		# GPS speed accuracy estimate, (metres/sec)
-float32 c_variance_rad		# GPS course accuracy estimate, (radians)
-uint8 FIX_TYPE_NONE                   = 1       # Value 0 is also valid to represent no fix.
+float32 speed_accuracy        # GPS speed accuracy estimate (meters/sec)
+float32 course_accuracy       # GPS course accuracy estimate (radians)
+uint8 FIX_TYPE_NONE                   = 1
 uint8 FIX_TYPE_2D                     = 2
 uint8 FIX_TYPE_3D                     = 3
 uint8 FIX_TYPE_RTCM_CODE_DIFFERENTIAL = 4
 uint8 FIX_TYPE_RTK_FLOAT              = 5
 uint8 FIX_TYPE_RTK_FIXED              = 6
 uint8 FIX_TYPE_EXTRAPOLATED           = 8
-uint8 fix_type                  # Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+uint8 fix_type                # Value 0 is also valid to represent no fix
 
-float32 eph			# GPS horizontal position accuracy (metres)
-float32 epv			# GPS vertical position accuracy (metres)
+float32 eph                   # GPS horizontal position accuracy (meters)
+float32 epv                   # GPS vertical position accuracy (meters)
 
-float32 hdop			# Horizontal dilution of precision
-float32 vdop			# Vertical dilution of precision
+float32 hdop                  # Horizontal dilution of precision
+float32 vdop                  # Vertical dilution of precision
 
-int32 noise_per_ms		# GPS noise per millisecond
-uint16 automatic_gain_control   # Automatic gain control monitor
+int32 noise                   # GPS noise per millisecond
+uint16 automatic_gain_control # Automatic gain control monitor
 
 uint8 JAMMING_STATE_UNKNOWN  = 0
 uint8 JAMMING_STATE_OK       = 1
 uint8 JAMMING_STATE_WARNING  = 2
 uint8 JAMMING_STATE_CRITICAL = 3
-uint8 jamming_state		# indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
-int32 jamming_indicator		# indicates jamming is occurring
+uint8 jamming_state           # Indicates whether jamming has been detected or suspected by the receivers (ublox only)
+uint8 jamming_indicator       # Value from 0-255 where 0 indicates no jamming and 255 indicates strong CW jamming (ublox only)
 
 uint8 SPOOFING_STATE_UNKNOWN   = 0
 uint8 SPOOFING_STATE_NONE      = 1
 uint8 SPOOFING_STATE_INDICATED = 2
 uint8 SPOOFING_STATE_MULTIPLE  = 3
-uint8 spoofing_state		# indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
+uint8 spoofing_state          # Indicates whether spoofing has been detected or suspected by the receivers
 
-float32 vel_m_s			# GPS ground speed, (metres/sec)
-float32 vel_n_m_s		# GPS North velocity, (metres/sec)
-float32 vel_e_m_s		# GPS East velocity, (metres/sec)
-float32 vel_d_m_s		# GPS Down velocity, (metres/sec)
-float32 cog_rad			# Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
-bool vel_ned_valid		# True if NED velocity is valid
+float32 ground_speed          # GPS ground speed (meters/sec)
+float32 vel_north             # GPS North velocity (meters/sec)
+float32 vel_east              # GPS East velocity (meters/sec)
+float32 vel_down              # GPS Down velocity (meters/sec)
+float32 course                # Course over ground (NOT heading, but direction of movement) in radians [-PI..PI]
+bool vel_ned_valid            # True if NED velocity is valid
 
-int32 timestamp_time_relative	# timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)
-uint64 time_utc_usec		# Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0
+int32 timestamp_time_relative # timestamp + timestamp_time_relative = Time of the UTC timestamp since system start (microseconds)
+uint64 time_utc_usec          # Timestamp in microseconds (UTC), might be unavailable right after cold start (indicated by value of 0)
 
-uint8 satellites_used		# Number of satellites used
+uint8 satellites_used         # Number of satellites used
 
-float32 heading			# heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
-float32 heading_offset		# heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
-float32 heading_accuracy	# heading accuracy (rad, [0, 2PI])
+float32 heading               # Heading angle of XYZ body frame relative to NED (radians [-PI, PI]). Set to NaN if not available. (used for dual antenna GPS)
+float32 heading_offset        # Heading offset of dual antenna array in body frame (radians [-PI, PI]). Set to NaN if not applicable
+float32 heading_accuracy      # Heading accuracy (radians [0, 2PI])
 
-float32 rtcm_injection_rate	# RTCM message injection rate Hz
-uint8 selected_rtcm_instance	# uorb instance that is being used for RTCM corrections
+float32 rtcm_injection_rate   # RTCM message injection rate (Hz)
+uint8 selected_rtcm_instance  # uORB instance that is being used for RTCM corrections
 
-bool rtcm_crc_failed		# RTCM message CRC failure detected
+bool rtcm_crc_failed          # RTCM message CRC failure detected
 
 uint8 RTCM_MSG_USED_UNKNOWN = 0
 uint8 RTCM_MSG_USED_NOT_USED = 1
 uint8 RTCM_MSG_USED_USED = 2
-uint8 rtcm_msg_used		# Indicates if the RTCM message was used successfully by the receiver
+uint8 rtcm_msg_used           # Indicates if the RTCM message was used successfully by the receiver
 
 # TOPICS sensor_gps vehicle_gps_position