/*
send raw GPS position information (GPS_RAW_INT, GPS2_RAW, GPS_RTK and GPS2_RTK).
returns true if messages fit into transmit buffer, false otherwise.
*/
bool GCS_MAVLINK::send_gps_raw(AP_GPS &gps)
{
if (comm_get_txspace(chan) >=
MAVLINK_MSG_ID_GPS_RAW_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
gps.send_mavlink_gps_raw(chan);
} else {
return false;
}
if (gps.highest_supported_status(0) > AP_GPS::GPS_OK_FIX_3D) {
if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS_RTK_LEN) {
gps.send_mavlink_gps_rtk(chan);
}
}
if (gps.num_sensors() > 1 && gps.status(1) > AP_GPS::NO_GPS) {
if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS2_RAW_LEN) {
gps.send_mavlink_gps2_raw(chan);
}
if (gps.highest_supported_status(1) > AP_GPS::GPS_OK_FIX_3D) {
if (comm_get_txspace(chan) >=
MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS2_RTK_LEN) {
gps.send_mavlink_gps2_rtk(chan);
}
}
}
//TODO: Should check what else managed to get through...
return true;
}
/*
send raw GPS position information (GPS_RAW_INT, GPS2_RAW, GPS_RTK and GPS2_RTK).
returns true if messages fit into transmit buffer, false otherwise.
*/
bool GCS_MAVLINK::send_gps_raw(AP_GPS &gps)
{
int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space >= MAVLINK_MSG_ID_GPS_RAW_INT_LEN) {
gps.send_mavlink_gps_raw(chan);
} else {
return false;
}
#if GPS_RTK_AVAILABLE
if (gps.highest_supported_status(0) > AP_GPS::GPS_OK_FIX_3D) {
payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space >= MAVLINK_MSG_ID_GPS_RTK_LEN) {
gps.send_mavlink_gps_rtk(chan);
}
}
#endif
#if GPS_MAX_INSTANCES > 1
if (gps.num_sensors() > 1 && gps.status(1) > AP_GPS::NO_GPS) {
payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space >= MAVLINK_MSG_ID_GPS2_RAW_LEN) {
gps.send_mavlink_gps2_raw(chan);
}
#if GPS_RTK_AVAILABLE
if (gps.highest_supported_status(1) > AP_GPS::GPS_OK_FIX_3D) {
payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space >= MAVLINK_MSG_ID_GPS2_RTK_LEN) {
gps.send_mavlink_gps2_rtk(chan);
}
}
#endif
}
#endif
//TODO: Should check what else managed to get through...
return true;
}