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Support two RTCM links with the same corrections

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Add selected_rtcm_instance to sensor_gps message to track loss of rtcm links

Publish _rate_rtcm_injection
This commit is contained in:
alexklimaj
2022-03-31 12:34:18 -06:00
committed by Beat Küng
parent 1e55b69fdb
commit f9b8ca1326
5 changed files with 35 additions and 3 deletions
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msg/gps_inject_data.msg
+2
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@@ -7,3 +7,5 @@ uint8 flags # LSB: 1=fragmented
uint8[300] data # data to write to GPS device (RTCM message)
uint8 ORB_QUEUE_LENGTH = 8
uint8 MAX_INSTANCES = 2
msg/sensor_gps.msg
+3
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@@ -46,4 +46,7 @@ float32 heading # heading angle of XYZ body frame rel to NED. Set to NaN if no
float32 heading_offset # heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
float32 heading_accuracy # heading accuracy (rad, [0, 2PI])
float32 rtcm_injection_rate # RTCM message injection rate Hz
uint8 selected_rtcm_instance # uorb instance that is being used for RTCM corrections
# TOPICS sensor_gps vehicle_gps_position