From 94cb2012792b2ae89f0b147cfee53ee31ae550be Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 8 Sep 2025 17:56:48 -0400 Subject: [PATCH] drivers/gps: warn if gps_inject_data publications have been missed --- src/drivers/gps/gps.cpp | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 1497b9ba42..ee9eed8f0c 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -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); }