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AP_DDS: Publish all available GPS instances #29419

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AP_DDS: Publish all available GPS instances #29419

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13 changes: 6 additions & 7 deletions libraries/AP_DDS/AP_DDS_Client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -209,7 +209,6 @@ bool AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t i

auto &gps = AP::gps();
WITH_SEMAPHORE(gps.get_semaphore());

if (!gps.is_healthy(instance)) {
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If the GPS goes unhealthy, we still need to publish it. Existing problem.

msg.status.status = -1; // STATUS_NO_FIX
msg.status.service = 0; // No services supported
Expand All @@ -219,13 +218,12 @@ bool AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t i

// No update is needed
const auto last_fix_time_ms = gps.last_fix_time_ms(instance);
if (last_nav_sat_fix_time_ms == last_fix_time_ms) {
if (last_nav_sat_fix_time_ms[instance] == last_fix_time_ms) {
return false;
} else {
last_nav_sat_fix_time_ms = last_fix_time_ms;
last_nav_sat_fix_time_ms[instance] = last_fix_time_ms;
}


update_topic(msg.header.stamp);
static_assert(GPS_MAX_RECEIVERS <= 9, "GPS_MAX_RECEIVERS is greater than 9");
hal.util->snprintf(msg.header.frame_id, 2, "%u", instance);
Expand Down Expand Up @@ -1682,9 +1680,10 @@ void AP_DDS_Client::update()
}
#endif // AP_DDS_TIME_PUB_ENABLED
#if AP_DDS_NAVSATFIX_PUB_ENABLED
constexpr uint8_t gps_instance = 0;
if (update_topic(nav_sat_fix_topic, gps_instance)) {
write_nav_sat_fix_topic();
for (uint8_t gps_instance = 0; gps_instance < GPS_MAX_INSTANCES; gps_instance++) {
if (update_topic(nav_sat_fix_topic, gps_instance)) {
write_nav_sat_fix_topic();
}
}
#endif // AP_DDS_NAVSATFIX_PUB_ENABLED
#if AP_DDS_BATTERY_STATE_PUB_ENABLED
Expand Down
3 changes: 2 additions & 1 deletion libraries/AP_DDS/AP_DDS_Client.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#endif // AP_DDS_TIME_PUB_ENABLED
#if AP_DDS_NAVSATFIX_PUB_ENABLED
#include "sensor_msgs/msg/NavSatFix.h"
#include <AP_GPS/AP_GPS_config.h>
#endif // AP_DDS_NAVSATFIX_PUB_ENABLED
#if AP_DDS_NEEDS_TRANSFORMS
#include "tf2_msgs/msg/TFMessage.h"
Expand Down Expand Up @@ -172,7 +173,7 @@ class AP_DDS_Client
#if AP_DDS_NAVSATFIX_PUB_ENABLED
sensor_msgs_msg_NavSatFix nav_sat_fix_topic;
// The last ms timestamp AP_DDS wrote a NavSatFix message
uint64_t last_nav_sat_fix_time_ms;
uint64_t last_nav_sat_fix_time_ms[GPS_MAX_INSTANCES];
//! @brief Serialize the current nav_sat_fix state and publish to the IO stream(s)
void write_nav_sat_fix_topic();
bool update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t instance) WARN_IF_UNUSED;
Expand Down
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