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AP_GPS: fixed RTK injection with moving baseline

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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];