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UAVCAN Moving Baseline Working

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Set uavcan publisher priorities

Switch to ardupilot rtcm message and add heading accuracy
This commit is contained in:
alexklimaj
2021-10-07 22:23:27 -06:00
committed by Daniel Agar
parent b59db7dac2
commit bfd5a90a5d
23 changed files with 328 additions and 66 deletions
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msg/gps_inject_data.msg
+6 -3
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@@ -1,6 +1,9 @@
uint64 timestamp # time since system start (microseconds)
uint8 len # length of data
uint8 flags # LSB: 1=fragmented
uint8[182] data # data to write to GPS device (RTCM message)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
uint8 len # length of data
uint8 flags # LSB: 1=fragmented
uint8[300] data # data to write to GPS device (RTCM message)
uint8 ORB_QUEUE_LENGTH = 8