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drivers/gps: warn if gps_inject_data publications have been missed

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This commit is contained in:
Daniel Agar 2025-09-08 17:56:48 -04:00
parent 216fd858e8
commit 94cb201279
1 changed files with 11 additions and 1 deletions
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12
src/drivers/gps/gps.cpp
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@ -601,7 +601,17 @@ void GPS::handleInjectDataTopic()
}
}
updated = _orb_inject_data_sub[_selected_rtcm_instance].update(&msg);
auto &gps_inject_data_sub = _orb_inject_data_sub[_selected_rtcm_instance];
const unsigned last_generation = gps_inject_data_sub.get_last_generation();
updated = gps_inject_data_sub.update(&msg);
if (updated) {
if (gps_inject_data_sub.get_last_generation() != last_generation + 1) {
PX4_WARN("gps_inject_data lost, generation %u -> %u", last_generation, gps_inject_data_sub.get_last_generation());
}
}
} while (updated && num_injections < max_num_injections);
}