AP_GPS: GPS calculates MAVLink messages for GPS and GPS_RTK

libraries/AP_GPS/AP_GPS.h

@@ -23,6 +23,7 @@
 #include <AP_Common.h>
 #include <AP_Param.h>
 #include <AP_Math.h>
+#include <GCS_MAVLink.h>
 #include "GPS_detect_state.h"
 
 /**

libraries/AP_GPS/AP_GPS_SBP.cpp

@@ -64,6 +64,7 @@ AP_GPS_SBP::AP_GPS_SBP(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriv
     last_heatbeat_received_ms(0),
     last_tracking_state_ms(0),
     iar_num_hypotheses(-1),
+    baseline_recv_rate(0),
 
     dgps_corrections_incoming(false),
     rtk_corrections_incoming(false),
@@ -174,6 +175,8 @@ AP_GPS_SBP::read(void)
         float baseline_msg_hz = baseline_msg_counter / (float) elapsed * 1000;
         float full_update_hz  = full_update_counter / (float) elapsed * 1000;
 
+        baseline_recv_rate = uint8_t (baseline_msg_hz * 10);
+
         pos_msg_counter = 0;
         vel_msg_counter = 0;
         baseline_msg_counter = 0;

libraries/AP_GPS/AP_GPS_SBP.h

@@ -249,6 +249,7 @@ private:
     uint32_t last_baseline_received_ms;
     uint32_t last_heatbeat_received_ms;
     uint32_t last_tracking_state_ms;
+    uint8_t baseline_recv_rate; //in hertz * 10
     int32_t iar_num_hypotheses;
 
     //Sticky bits to track updating of state