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drivers/uavcannode: Add RTCMStream subscriber and fix RTCMStream Publisher (#20056)

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* Add cannode RTCMStream subscriber
* Fix uavcan RTCMStream publisher
* Break out CANNODE_SUB_RTCM and CANNODE_SUB_MBD
This commit is contained in:
Alex Klimaj
2022-09-09 15:16:09 -04:00
committed by GitHub
parent 9d1aeb6aa7
commit efcf4c95fd
5 changed files with 149 additions and 12 deletions
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src/drivers/uavcan/sensors/gnss.cpp
+3 -4
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@@ -494,10 +494,9 @@ void UavcanGnssBridge::handleInjectDataTopic()
bool UavcanGnssBridge::PublishRTCMStream(const uint8_t *const data, const size_t data_len)
{
using uavcan::equipment::gnss::RTCMStream;
uavcan::equipment::gnss::RTCMStream msg;
RTCMStream msg;
msg.protocol_id = RTCMStream::PROTOCOL_ID_RTCM3;
msg.protocol_id = uavcan::equipment::gnss::RTCMStream::PROTOCOL_ID_RTCM3;
const size_t capacity = msg.data.capacity();
size_t written = 0;
@@ -517,7 +516,7 @@ bool UavcanGnssBridge::PublishRTCMStream(const uint8_t *const data, const size_t
result = _pub_rtcm_stream.broadcast(msg) >= 0;
perf_count(_rtcm_stream_pub_perf);
msg.data = {};
msg.data.clear();
}
return result;