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Ublox add UBX-RXM-RTCM for RTCM input status #21595
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Nice! |
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/px4-maintainers-call-may-16-2023/32137/1 |
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Looks correct!
I think we need to rework the instance switching logic to avoid the bug I ran into. @dagar suggested we always subscribe to both but only use one. |
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GPS submodule PR is in. Submodule now points to the most recent commit in the GPS main branch. |
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Let's get it in.
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I cleaned up the commits, rebased on top of main and force-pushed. I'll merge it if CI doesn't look worse than main. |
I assume CI is unrelated. |
This PR adds support for the UBX-RXM-RTCM message which gives feedback on whether the ublox module is using the RTCM data that is being sent to it.
Requires PX4/PX4-GPSDrivers#130
I also discovered a bug in the uavcan rtcm publisher. When the mavlink stream goes down there is a chance that a second instance of the gps_inject_data topic is created. When that happens the uavcan publisher isn't setup to handle switching streams.
I mirrored the gps driver instance switching logic but discovered it will get stuck on a non existing gps_inject_data instance.
@julianoes Can you take a look?