signal_monitor.py 文件源码

def obs_callback(self, msg):
        cn0 = np.array([obs.cn0/4.0 for obs in msg.obs])

        m = SignalStatus()
        m.header.stamp = rospy.Time.now()
        m.mean_cn0 = np.mean(cn0)
        m.median_cn0 = np.median(cn0)
        m.robust_mean_cn0 = np.mean(reject_outliers(cn0))
        m.num_sats = len(msg.obs)
        self.signal_pub.publish(m)