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refactor(gps): shrink the GPS driver by ~4 KB of flash (#28309)

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* refactor(gps): publish RTCM chunks without a per-topic template

publish_rtcm_chunks() was instantiated once for Publication and once for PublicationMulti, duplicating the chunking loop. Select the topic inside the loop instead.

px4_fmu-v6x_default: gps.cpp.obj 8744 -> 8590 B.

Assisted-by: Claude:claude-fable-5

* build(gps): bump GPSDrivers to 2b05a67

Pulls in the flash-diet refactor (#230) and the unsupported-config-key fixes (#225).

px4_fmu-v6x_default: -4,200 B from #230, +816 B from #225.
This commit is contained in:
Jacob Dahl
2026-08-20 20:16:33 -06:00
committed by GitHub
parent 13a0618c0b
commit b7cc273db6
2 changed files with 20 additions and 27 deletions
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src/drivers/gps/devices
+1 -1
Submodule src/drivers/gps/devices updated: 836094f464...2b05a67361
src/drivers/gps/gps.cpp
+19 -26
View File
@@ -1651,16 +1651,19 @@ GPS::publishSatelliteInfo()
}
}
// Chunk an RTCM byte stream into a uORB message and publish it. RTCM frames larger than the
// message payload are split across consecutive publications (flags LSB = fragmented). Templated
// on the publication so the same code serves both the corrections and moving-baseline topics.
template <typename PubT>
static void publish_rtcm_chunks(PubT &pub, const uint8_t *data, size_t len, hrt_abstime timestamp,
uint32_t device_id)
// Chunk an RTCM byte stream into uORB messages. Frames larger than the message payload are split
// across consecutive publications (flags LSB = fragmented).
void
GPS::publishRTCMCorrections(uint8_t *data, size_t len)
{
// If this GPS is a moving base, its RTCM output is moving-baseline data for a rover (not
// external corrections). Route it to a dedicated topic so downstream consumers can tell it
// apart from fixed-base RTCM.
const bool moving_base = _helper && _helper->isMovingBase();
rtcm_data_s msg{};
msg.timestamp = timestamp;
msg.device_id = device_id;
msg.timestamp = hrt_absolute_time();
msg.device_id = get_device_id();
const size_t capacity = sizeof(msg.data);
msg.flags = (len > capacity) ? 1 : 0; // LSB: 1=fragmented
@@ -1671,28 +1674,18 @@ static void publish_rtcm_chunks(PubT &pub, const uint8_t *data, size_t len, hrt_
const size_t chunk = math::min(len - written, capacity);
msg.len = chunk;
memcpy(msg.data, &data[written], chunk);
pub.publish(msg);
if (moving_base) {
_rtcm_moving_baseline_pub.publish(msg);
} else {
_rtcm_corrections_pub.publish(msg);
}
written += chunk;
}
}
void
GPS::publishRTCMCorrections(uint8_t *data, size_t len)
{
const hrt_abstime timestamp = hrt_absolute_time();
const uint32_t device_id = get_device_id();
// If this GPS is a moving base, its RTCM output is moving-baseline data for a rover (not
// external corrections). Route it to a dedicated topic so downstream consumers can tell it
// apart from fixed-base RTCM.
if (_helper && _helper->isMovingBase()) {
publish_rtcm_chunks(_rtcm_moving_baseline_pub, data, len, timestamp, device_id);
} else {
publish_rtcm_chunks(_rtcm_corrections_pub, data, len, timestamp, device_id);
}
}
void
GPS::publishRelativePosition(sensor_gnss_relative_s &gnss_relative)
{