From 778ad160f27954d3eaa90a9022e9e97c214dae85 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Date: Tue, 16 Dec 2025 08:36:02 -0900
Subject: [PATCH] msg: GpsDump: queue 8->16 and add device_id (#26091)

* msg: GpsDump: increase queue from 8 to 16 and replace instance with device_id

* gps: add back instance
---
 msg/GpsDump.msg                            | 6 +++++-
 src/drivers/gnss/septentrio/septentrio.cpp | 3 ++-
 src/drivers/gps/gps.cpp                    | 1 +
 3 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/msg/GpsDump.msg b/msg/GpsDump.msg
index 2477bcfa3a..bbd16339f9 100644
--- a/msg/GpsDump.msg
+++ b/msg/GpsDump.msg
@@ -2,9 +2,13 @@
 
 uint64 timestamp # time since system start (microseconds)
 
+uint8 INSTANCE_MAIN = 0
+uint8 INSTANCE_SECONDARY = 1
+
 uint8 instance   # Instance of GNSS receiver
+uint32 device_id
 uint8 len        # length of data, MSB bit set = message to the gps device,
                  # clear = message from the device
 uint8[79] data   # data to write to the log
 
-uint8 ORB_QUEUE_LENGTH = 8
+uint8 ORB_QUEUE_LENGTH = 16
diff --git a/src/drivers/gnss/septentrio/septentrio.cpp b/src/drivers/gnss/septentrio/septentrio.cpp
index f3c182be23..a20b0b9365 100644
--- a/src/drivers/gnss/septentrio/septentrio.cpp
+++ b/src/drivers/gnss/septentrio/septentrio.cpp
@@ -1728,7 +1728,8 @@ void SeptentrioDriver::publish_rtcm_corrections(uint8_t *data, size_t len)
 void SeptentrioDriver::dump_gps_data(const uint8_t *data, size_t len, DataDirection data_direction)
 {
 	gps_dump_s *dump_data = data_direction == DataDirection::FromReceiver ? _message_data_from_receiver : _message_data_to_receiver;
-	dump_data->instance = _instance == Instance::Main ? 0 : 1;
+	dump_data->instance = _instance == Instance::Main ? gps_dump_s::INSTANCE_MAIN : gps_dump_s::INSTANCE_SECONDARY;
+	dump_data->device_id = get_device_id();
 
 	while (len > 0) {
 		size_t write_len = len;
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index e7dbab947a..fcc2e59c38 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -696,6 +696,7 @@ void GPS::dumpGpsData(uint8_t *data, size_t len, gps_dump_comm_mode_t mode, bool
 	}
 
 	dump_data->instance = (uint8_t)_instance;
+	dump_data->device_id = get_device_id();
 
 	while (len > 0) {
 		size_t write_len = len;