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Fix GPS RTCM instance selection

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This commit is contained in:
Alexander Lerach
2025-02-13 10:13:26 +01:00
committed by Silvan Fuhrer
parent eb18edf5eb
commit f2471861a3
1 changed files with 7 additions and 2 deletions
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src/drivers/gps/gps.cpp
+7 -2
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@@ -547,8 +547,13 @@ void GPS::handleInjectDataTopic()
for (int instance = 0; instance < _orb_inject_data_sub.size(); instance++) {
const bool exists = _orb_inject_data_sub[instance].advertised();
if (exists) {
if (_orb_inject_data_sub[instance].copy(&msg)) {
if (exists && _orb_inject_data_sub[instance].copy(&msg)) {
/* Don't select the own RTCM instance. In case it has a lower
* instance number, it will be selected and will be rejected
* later in the code, resulting in no RTCM injection at all.
*/
if (msg.device_id != get_device_id()) {
// Only use the message if it is up to date
if ((hrt_absolute_time() - msg.timestamp) < 5_s) {
// Remember that we already did a copy on this instance.
already_copied = true;