AP_GPS: support GNSS receiver resilience information over MAVLink #27891
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chiara-septentrio
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@tridge Do you have any idea on how to tackle the message being in development.xml for the integration? I am not sure when it would be appropriate for the message to be moved to common and the automatics checks fail because they do not have access to it unless I add it. |
The message is in ``development.xml` ,just not in our development.xml I've created a PR to add it to our development.xml: ArduPilot/mavlink#368 |
| (params.gnss_mode&(1U<<6))!=0 ? ((params.gnss_mode&0x2F)==0 ? "GLONASS" : "+GLONASS") : "") == -1) { | ||
| config_string=nullptr; | ||
| } | ||
| //IMES not taken into account by Septentrio receivers |
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Why is this commented out? Did it work in the first place? Why was it here then?
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It is part of the possible constellation choice in Mission Planner, I thought it would make it clear for future users and maintainers why it is not a possibility
libraries/AP_GPS/AP_GPS_SBF.cpp
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| const msg4092 &temp = sbf_msg.data.msg4092u; | ||
| check_new_itow(temp.TOW, sbf_msg.length); | ||
| #if HAL_GCS_ENABLED | ||
| if (temp.Flags==0) { |
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It's been corrected
chiara-septentrio
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I've merged a PR to master to reference the GNSS_INTEGRITY message now Rebasing this should cause the tests to be happy again. ... also, can we close #26990 ? |
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I will test it then! |
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Add support for reporting resilience information from GNSS receivers (interference & authentication) over MAVLink.
chiara-septentrio
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Add support for reporting resilience information from GNSS receivers (system status & interference & authentication) over MAVLink. These information have been added in Mavlink recently and this implements it in the code, for now it is only available with Septentrio receivers.
For testing it, I had to move the message to common.xml as they are currently in development.xml. This should not be an issue once the implementation is complete and the message can be moved to common.
While for now I could only test that it built correctly, and that the function to send the message to mavlink was correctly called with accurate data fed to it. I will need to modify Mission Planner to ensure that it's fully compatible.