mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
0f6f738a33
this allows for redundent RTCM links (eg. WiFi and SiK links for light show drones) without causing corruption into the GPS. If the GPS_DRV_OPTION bit is set then we instantiate a separate RTCM3 decoder per mavlink channel, and only inject when we get a full packet that passes the RTCM 24 bit CRC
62 lines
1.6 KiB
C++
62 lines
1.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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RTCMv3 parser, used to support moving baseline RTK mode between two
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GPS modules
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*/
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#pragma once
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#include <stdint.h>
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// maximum packet length with MAVLink GPS_RTCM_DATA is 4*180 as we
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// handle up to 4 fragments
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#define RTCM3_MAX_PACKET_LEN 720
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class RTCM3_Parser {
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public:
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// process one byte, return true if packet found
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bool read(uint8_t b);
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// reset internal state
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void reset(void);
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// clear previous packet
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void clear_packet(void);
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// return length of found packet
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uint16_t get_len(const uint8_t *&bytes) const;
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// return ID of found packet
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uint16_t get_id(void) const;
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private:
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const uint8_t RTCMv3_PREAMBLE = 0xD3;
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// raw packet, we shouldn't need over 600 bytes for the MB configs we use
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uint8_t pkt[RTCM3_MAX_PACKET_LEN];
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// number of bytes in pkt[]
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uint16_t pkt_bytes;
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// length from header
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uint16_t pkt_len;
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// length of found packet
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uint16_t found_len;
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bool parse(void);
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void resync(void);
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};
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