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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
2025-11-10 00:55:16 -05:00
parent 216fd858e8
commit 94cb201279
1 changed files with 11 additions and 1 deletions
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src/drivers/gps/gps.cpp
+11 -1
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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); } while (updated && num_injections < max_num_injections);
} }