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https://github.com/PX4/PX4-Autopilot.git
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Jacob Dahl
df34662110
Message comments describe the message and its fields. These named parameters, a threshold and the logic of the code that fills or reads them, which goes stale when that code changes. Assisted-by: Claude:claude-fable-5-1
28 lines
1.1 KiB
Plaintext
28 lines
1.1 KiB
Plaintext
# RTCM3 data exchanged with GNSS receivers.
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#
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# Published under two topic names that share this definition (see TOPICS below):
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#
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# rtcm_corrections - external fixed-base corrections fed into the vehicle (MAVLink
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# GPS_RTCM_DATA, UAVCAN RTCMStream, GPS drivers in dump mode). Multiple
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# sources are allowed, one uORB instance each; consumers select one instance.
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#
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# rtcm_moving_baseline - moving-base GPS output (RTCM 4072 or equivalent) intended for a rover.
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# Single publisher per vehicle (on-board moving base, or a CANnode
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# forwarding MovingBaselineData); consumers only read instance 0.
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uint64 timestamp # [us] Time since system start
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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 # Correction payload (fixed-base RTCM3 and/or SPARTN frames, or moving-baseline RTCM3)
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uint8 ORB_QUEUE_LENGTH = 16
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# Sized for the fixed-base corrections case (up to four independent sources). The moving-baseline
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# topic only uses instance 0 (single publisher per vehicle).
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uint8 MAX_INSTANCES = 4
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# TOPICS rtcm_corrections rtcm_moving_baseline
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