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Prevent uavcannode from republishing RTCM data received over uavcan

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alexklimaj
2021-11-30 17:09:49 -07:00
committed by Daniel Agar
parent a29820bdf8
commit 2571860ff8
1 changed files with 5 additions and 1 deletions
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src/drivers/uavcannode/Publishers/MovingBaselineData.hpp
+5 -1
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@@ -37,6 +37,7 @@
#include <ardupilot/gnss/MovingBaselineData.hpp>
#include <lib/drivers/device/Device.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/gps_inject_data.h>
@@ -76,7 +77,10 @@ public:
if (uORB::SubscriptionCallbackWorkItem::update(&inject_data)) {
// Prevent republishing rtcm data we received from uavcan
if (inject_data.device_id > uavcan::NodeID::Max) {
union device::Device::DeviceId device_id;
device_id.devid = inject_data.device_id;
if (device_id.devid_s.bus_type != device::Device::DeviceBusType::DeviceBusType_UAVCAN) {
ardupilot::gnss::MovingBaselineData movingbaselinedata{};
const size_t capacity = movingbaselinedata.data.capacity();