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AP_GPS: fixed RTK injection when first module is a BASE 

this is a partial backport of #24132 which fixes RTK injection when
the 1st GPS module is a DroneCAN RTK rover. Without this change RTCM
injection for RTK fix on the base will only work if it happens to come
up as the first module
This commit is contained in:
Andrew Tridgell 2023-08-03 13:56:01 +10:00
parent 5bf4e3b8a3
commit 76483a51f8
2 changed files with 5 additions and 1 deletions
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5
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
View File

@ -947,9 +947,12 @@ void AP_GPS_UAVCAN::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 UAVCAN 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_uavcan != _detected_modules[0].ap_uavcan) {
_detected_modules[_detected_module].ap_uavcan != _detected_modules[0].ap_uavcan ||
now_ms - _detected_modules[0].last_inject_ms > 2000) {
_detected_modules[_detected_module].ap_uavcan->send_RTCMStream(data, len);
_detected_modules[_detected_module].last_inject_ms = now_ms;
}
}

1
libraries/AP_GPS/AP_GPS_UAVCAN.h
View File

@ -124,6 +124,7 @@ private:
AP_UAVCAN* ap_uavcan;
uint8_t node_id;
uint8_t instance;
uint32_t last_inject_ms;
AP_GPS_UAVCAN* driver;
} _detected_modules[GPS_MAX_RECEIVERS];