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Jacob Dahl
0d1fa8d64c
The single gps_inject_data topic served two unrelated purposes: external fixed-base RTCM corrections (from MAVLink GPS_RTCM_DATA or UAVCAN RTCMStream) and moving-base-to-rover RTCM 4072. In a dual-GPS-with-moving-base plus fixed-base setup, the two streams collided on the same queue and the FMU UAVCAN bridge mirrored fixed-base RTCM onto the MovingBaselineData CAN message, breaking rover heading or RTK fix (see PX4/PX4-Autopilot#27088). Split by role: - rtcm_corrections (renamed from gps_inject_data): external RTCM flowing into the vehicle; producers are MAVLink, UAVCAN RTCMStream, and GPS drivers in dump mode. - rtcm_moving_baseline (new): moving-base GPS output intended for a rover; single producer per vehicle. GPS driver routes publishRTCMCorrections() based on a new GPSHelper::isMovingBase() virtual (overridden in UBX). Septentrio's publish_rtcm_corrections() always publishes to rtcm_moving_baseline (only the Secondary moving base calls it). Rover-side consumers (gps, septentrio, uavcan bridge) drain both topics independently; each gets its own stale-link switchover state. FMU UAVCAN bridge: two independent drain loops, one per topic. No more dual-publish of a single uORB message onto both RTCMStream and MovingBaselineData CAN streams. CANnode MovingBaselineDataPub subscribes to rtcm_moving_baseline and drops the bus_type == UAVCAN heuristic that was papering over the conflation. CANnode RTCMStream subscriber switches to PublicationMulti so multiple CAN RTCM sources coexist (e.g. dual rovers outputting MSM7 for logging plus a fixed-base feed). Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
12 lines
399 B
Plaintext
12 lines
399 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint32 device_id # unique device ID of the publisher that produced this RTCM
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uint16 len # length of data
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uint8 flags # LSB: 1=fragmented
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uint8[300] data # RTCM3 correction data (from a fixed base, or another GPS)
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uint8 ORB_QUEUE_LENGTH = 8
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uint8 MAX_INSTANCES = 4
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