forked from Archive/PX4-Autopilot
RTCM: use MAVLINK_MSG_ID_GPS_RTCM_DATA mavlink message (supports fragmentation)
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25cff52019
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@ -1,2 +1,3 @@
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uint8 len # length of data
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uint8[110] data # data to write to GPS device
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uint8 flags # LSB: 1=fragmented
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uint8[182] data # data to write to GPS device (RTCM message)
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@ -441,6 +441,11 @@ void GPS::handleInjectDataTopic()
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if (updated) {
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struct gps_inject_data_s msg;
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orb_copy(ORB_ID(gps_inject_data), orb_inject_data_cur_fd, &msg);
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/* Write the message to the gps device. Note that the message could be fragmented.
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* But as we don't write anywhere else to the device during operation, we don't
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* need to assemble the message first.
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*/
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injectData(msg.data, msg.len);
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_orb_inject_data_next = (_orb_inject_data_next + 1) % _orb_inject_data_fd_count;
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@ -250,8 +250,8 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
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handle_message_adsb_vehicle(msg);
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break;
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case MAVLINK_MSG_ID_GPS_INJECT_DATA:
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handle_message_gps_inject_data(msg);
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case MAVLINK_MSG_ID_GPS_RTCM_DATA:
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handle_message_gps_rtcm_data(msg);
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break;
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default:
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@ -1775,16 +1775,17 @@ void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
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}
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}
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void MavlinkReceiver::handle_message_gps_inject_data(mavlink_message_t *msg)
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void MavlinkReceiver::handle_message_gps_rtcm_data(mavlink_message_t *msg)
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{
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mavlink_gps_inject_data_t gps_inject_data_msg;
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mavlink_gps_rtcm_data_t gps_rtcm_data_msg;
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gps_inject_data_s gps_inject_data_topic;
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mavlink_msg_gps_inject_data_decode(msg, &gps_inject_data_msg);
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mavlink_msg_gps_rtcm_data_decode(msg, &gps_rtcm_data_msg);
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gps_inject_data_topic.len = gps_inject_data_msg.len;
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memcpy(gps_inject_data_topic.data, gps_inject_data_msg.data,
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math::min((int)sizeof(gps_inject_data_topic.data), (int)sizeof(uint8_t) * gps_inject_data_msg.len));
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gps_inject_data_topic.len = gps_rtcm_data_msg.len;
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gps_inject_data_topic.flags = gps_rtcm_data_msg.flags;
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memcpy(gps_inject_data_topic.data, gps_rtcm_data_msg.data,
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math::min((int)sizeof(gps_inject_data_topic.data), (int)sizeof(uint8_t) * gps_rtcm_data_msg.len));
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orb_advert_t &pub = _gps_inject_data_pub[_gps_inject_data_next_idx];
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@ -141,7 +141,7 @@ private:
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void handle_message_distance_sensor(mavlink_message_t *msg);
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void handle_message_follow_target(mavlink_message_t *msg);
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void handle_message_adsb_vehicle(mavlink_message_t *msg);
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void handle_message_gps_inject_data(mavlink_message_t *msg);
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void handle_message_gps_rtcm_data(mavlink_message_t *msg);
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void *receive_thread(void *arg);
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