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Support two RTCM links with the same corrections

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Add selected_rtcm_instance to sensor_gps message to track loss of rtcm links

Publish _rate_rtcm_injection
This commit is contained in:
alexklimaj
2022-07-15 08:20:27 +02:00
committed by Beat Küng
parent 1e55b69fdb
commit f9b8ca1326
5 changed files with 35 additions and 3 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2
View File
@@ -2603,6 +2603,8 @@ MavlinkReceiver::handle_message_gps_rtcm_data(mavlink_message_t *msg)
gps_inject_data_s gps_inject_data_topic{};
gps_inject_data_topic.timestamp = hrt_absolute_time();
gps_inject_data_topic.len = math::min((int)sizeof(gps_rtcm_data_msg.data),
(int)sizeof(uint8_t) * gps_rtcm_data_msg.len);
gps_inject_data_topic.flags = gps_rtcm_data_msg.flags;
src/modules/mavlink/mavlink_receiver.h
+1 -1
View File
@@ -330,6 +330,7 @@ private:
// ORB publications (multi)
uORB::PublicationMulti<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor)};
uORB::PublicationMulti<gps_inject_data_s> _gps_inject_data_pub{ORB_ID(gps_inject_data)};
uORB::PublicationMulti<input_rc_s> _rc_pub{ORB_ID(input_rc)};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_input_pub{ORB_ID(manual_control_input)};
uORB::PublicationMulti<ping_s> _ping_pub{ORB_ID(ping)};
@@ -339,7 +340,6 @@ private:
uORB::PublicationMulti<sensor_optical_flow_s> _sensor_optical_flow_pub{ORB_ID(sensor_optical_flow)};
// ORB publications (queue length > 1)
uORB::Publication<gps_inject_data_s> _gps_inject_data_pub{ORB_ID(gps_inject_data)};
uORB::Publication<transponder_report_s> _transponder_report_pub{ORB_ID(transponder_report)};
uORB::Publication<vehicle_command_s> _cmd_pub{ORB_ID(vehicle_command)};
uORB::Publication<vehicle_command_ack_s> _cmd_ack_pub{ORB_ID(vehicle_command_ack)};