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msg: GpsDump: queue 8->16 and add device_id (#26091)

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* msg: GpsDump: increase queue from 8 to 16 and replace instance with device_id

* gps: add back instance
This commit is contained in:
Jacob Dahl
2025-12-16 08:36:02 -09:00
committed by GitHub
parent 8393f46100
commit 778ad160f2
3 changed files with 8 additions and 2 deletions
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6
msg/GpsDump.msg
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@@ -2,9 +2,13 @@
uint64 timestamp # time since system start (microseconds)
uint8 INSTANCE_MAIN = 0
uint8 INSTANCE_SECONDARY = 1
uint8 instance # Instance of GNSS receiver
uint32 device_id
uint8 len # length of data, MSB bit set = message to the gps device,
# clear = message from the device
uint8[79] data # data to write to the log
uint8 ORB_QUEUE_LENGTH = 8
uint8 ORB_QUEUE_LENGTH = 16

3
src/drivers/gnss/septentrio/septentrio.cpp
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@@ -1728,7 +1728,8 @@ void SeptentrioDriver::publish_rtcm_corrections(uint8_t *data, size_t len)
void SeptentrioDriver::dump_gps_data(const uint8_t *data, size_t len, DataDirection data_direction)
{
gps_dump_s *dump_data = data_direction == DataDirection::FromReceiver ? _message_data_from_receiver : _message_data_to_receiver;
dump_data->instance = _instance == Instance::Main ? 0 : 1;
dump_data->instance = _instance == Instance::Main ? gps_dump_s::INSTANCE_MAIN : gps_dump_s::INSTANCE_SECONDARY;
dump_data->device_id = get_device_id();
while (len > 0) {
size_t write_len = len;

1
src/drivers/gps/gps.cpp
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@@ -696,6 +696,7 @@ void GPS::dumpGpsData(uint8_t *data, size_t len, gps_dump_comm_mode_t mode, bool
}
dump_data->instance = (uint8_t)_instance;
dump_data->device_id = get_device_id();
while (len > 0) {
size_t write_len = len;