fix(mavlink): select GPS_RAW_INT/GPS2_RAW instance via SENS_GPS_PRIME#27868
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fix(mavlink): select GPS_RAW_INT/GPS2_RAW instance via SENS_GPS_PRIME#27868dakejahl wants to merge 1 commit into
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sensor_gps uORB instance numbering is boot-order dependent for CAN receivers, so GPS_RAW_INT/GPS2_RAW showed a random receiver in dual-GPS setups (e.g. moving base + rover RTK). Resolve the primary from SENS_GPS_PRIME instead, matching the vehicle_gps_position selection including DroneCAN node IDs (2-127). The node ID matching lives in lib/gnss/SensorGpsSelector.hpp and is shared with vehicle_gps_position. Each stream only reports its selected receiver and falls back to NO_GPS keepalives if it has no data. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
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🔎 FLASH Analysispx4_fmu-v5x [Total VM Diff: 360 byte (0.02 %)]px4_fmu-v6x [Total VM Diff: 368 byte (0.02 %)]Updated: 2026-07-10T22:38:26 |
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@wrsolichin want to give this a try? |
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GPS_RAW_INTandGPS2_RAWare hardcoded tosensor_gpsinstances 0 and 1. For CAN-connected receivers the instance numbering is a boot-order race, so in a moving-base + rover dual-RTK setup the receiver reported as the "main" GPS is random per boot. This resolves the reported receiver fromSENS_GPS_PRIMEinstead, mirroring thevehicle_gps_positionselection semantics: 0/1 select the uORB instance directly, 2–127 select a DroneCAN receiver by node ID (matched againstdevice_id).GPS_RAW_INTreports the primary,GPS2_RAWthe other receiver, and both re-point live on parameter updates.lib/gnss/SensorGpsSelector.hppshared by both streams, andvehicle_gps_positionnow uses the samenode_id_matches()instead of its own copy of thedevice_iddecode; an unmatched node ID keeps retrying until the receiver enumerates on the bus, using the legacy 0/1 mapping in the meantimeGPS_RAW_INTemits the existing NO_GPS keepalive instead of silently substituting the other receiverSENS_GPS_PRIMEdescription now documents the MAVLink reportingEKF GPS selection is unaffected. Tested in SIH SITL with pymavlink: flipping
SENS_GPS_PRIMElive moves the receiver between the two messages (fix data follows the selection, NO_GPS keepalives on a dataless target), and unmatched node IDs / the default value keep today's behavior.