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AP_GPS: fixed RTK injection with moving baseline 

when 2nd DroneCAN GPS on the bus is the base in moving baseline we
need to be able to inject to it
This commit is contained in:
Andrew Tridgell 2023-06-24 14:11:55 +10:00
parent 6b106c401c
commit 64869b6e16
2 changed files with 5 additions and 1 deletions
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5
libraries/AP_GPS/AP_GPS_DroneCAN.cpp
View File

@ -798,8 +798,10 @@ void AP_GPS_DroneCAN::inject_data(const uint8_t *data, uint16_t len)
// using a different uavcan instance than the first GPS, as we
// send the data as broadcast on all DroneCAN devive ports and we
// don't want to send duplicates
const uint32_t now_ms = AP_HAL::millis();
if (_detected_module == 0 ||
_detected_modules[_detected_module].ap_dronecan != _detected_modules[0].ap_dronecan) {
_detected_modules[_detected_module].ap_dronecan != _detected_modules[0].ap_dronecan ||
now_ms - _detected_modules[0].last_inject_ms > 2000) {
if (_rtcm_stream.buf == nullptr) {
// give enough space for a full round from a NTRIP server with all
// constellations
@ -808,6 +810,7 @@ void AP_GPS_DroneCAN::inject_data(const uint8_t *data, uint16_t len)
return;
}
}
_detected_modules[_detected_module].last_inject_ms = now_ms;
_rtcm_stream.buf->write(data, len);
send_rtcm();
}

1
libraries/AP_GPS/AP_GPS_DroneCAN.h
View File

@ -119,6 +119,7 @@ private:
AP_DroneCAN* ap_dronecan;
uint8_t node_id;
uint8_t instance;
uint32_t last_inject_ms;
AP_GPS_DroneCAN* driver;
} _detected_modules[GPS_MAX_RECEIVERS];