From acd19a0520bd4ba0422080d81583d94924482d52 Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Mon, 15 May 2023 12:04:44 -0600 Subject: [PATCH] Ublox add UBX-RXM-RTCM for RTCM input status --- msg/SensorGps.msg | 7 +++++++ src/drivers/gps/devices | 2 +- 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/msg/SensorGps.msg b/msg/SensorGps.msg index 4404dd524f..5854511a91 100644 --- a/msg/SensorGps.msg +++ b/msg/SensorGps.msg @@ -55,4 +55,11 @@ float32 heading_accuracy # heading accuracy (rad, [0, 2PI]) float32 rtcm_injection_rate # RTCM message injection rate Hz uint8 selected_rtcm_instance # uorb instance that is being used for RTCM corrections +bool rtcm_crc_failed # RTCM message CRC failure detected + +uint8 RTCM_MSG_USED_UNKNOWN = 0 +uint8 RTCM_MSG_USED_NOT_USED = 1 +uint8 RTCM_MSG_USED_USED = 2 +uint8 rtcm_msg_used # Indicates if the RTCM message was used successfully by the receiver + # TOPICS sensor_gps vehicle_gps_position diff --git a/src/drivers/gps/devices b/src/drivers/gps/devices index 99f5960eca..6eabe40e58 160000 --- a/src/drivers/gps/devices +++ b/src/drivers/gps/devices @@ -1 +1 @@ -Subproject commit 99f5960eca66150e33dc277e71a4c99187c27ddc +Subproject commit 6eabe40e58f94b997a2347aff34b7aa0bc093dd5