From 1bd36e8974705545b0b62781f24ca0084934283d Mon Sep 17 00:00:00 2001 From: PX4BuildBot Date: Thu, 16 Jul 2026 19:31:15 +0000 Subject: [PATCH] docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot --- docs/en/middleware/dds_topics.md | 2 +- docs/en/msg_docs/RtcmData.md | 76 ++++++++++++++++++++++++++++++++ docs/en/msg_docs/index.md | 2 +- 3 files changed, 78 insertions(+), 2 deletions(-) create mode 100644 docs/en/msg_docs/RtcmData.md diff --git a/docs/en/middleware/dds_topics.md b/docs/en/middleware/dds_topics.md index 56d18173a3..252586b658 100644 --- a/docs/en/middleware/dds_topics.md +++ b/docs/en/middleware/dds_topics.md @@ -185,7 +185,6 @@ They are not build into the module, and hence are neither published or subscribe - [GpioOut](../msg_docs/GpioOut.md) - [GpioRequest](../msg_docs/GpioRequest.md) - [GpsDump](../msg_docs/GpsDump.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) - [Gripper](../msg_docs/Gripper.md) - [HealthReport](../msg_docs/HealthReport.md) - [HeaterStatus](../msg_docs/HeaterStatus.md) @@ -255,6 +254,7 @@ They are not build into the module, and hence are neither published or subscribe - [RoverRateStatus](../msg_docs/RoverRateStatus.md) - [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) - [Rpm](../msg_docs/Rpm.md) +- [RtcmData](../msg_docs/RtcmData.md) - [RtlStatus](../msg_docs/RtlStatus.md) - [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) - [SatelliteInfo](../msg_docs/SatelliteInfo.md) diff --git a/docs/en/msg_docs/RtcmData.md b/docs/en/msg_docs/RtcmData.md new file mode 100644 index 0000000000..caa570cb95 --- /dev/null +++ b/docs/en/msg_docs/RtcmData.md @@ -0,0 +1,76 @@ +--- +pageClass: is-wide-page +--- + +# RtcmData (UORB message) + +RTCM3 data exchanged with GNSS receivers. + +Published under two topic names that share this definition (see TOPICS below): + +rtcm_corrections - external fixed-base corrections fed into the vehicle (MAVLink +GPS_RTCM_DATA, UAVCAN RTCMStream, GPS drivers in dump mode). Multiple +sources are allowed, one uORB instance each; consumers select an instance +via their stale-link logic. + +rtcm_moving_baseline - moving-base GPS output (RTCM 4072 or equivalent) intended for a rover. +Single publisher per vehicle (on-board moving base, or a CANnode +forwarding MovingBaselineData); consumers only read instance 0. + +**TOPICS:** rtcm_corrections rtcm_moving_baseline + +## Fields + +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| device_id | `uint32` | | | Unique device ID of the publisher that produced this RTCM | +| len | `uint16` | | | Length of data | +| flags | `uint8` | | | LSB: 1=fragmented | +| data | `uint8[300]` | | | RTCM3 payload (fixed-base corrections, or moving-baseline data) | + +## Constants + +| Name | Type | Value | Description | +| ----------------------------------------------- | ------- | ----- | ----------- | +| ORB_QUEUE_LENGTH | `uint8` | 16 | +| MAX_INSTANCES | `uint8` | 4 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtcmData.msg) + +::: details Click here to see original file + +```c +# RTCM3 data exchanged with GNSS receivers. +# +# Published under two topic names that share this definition (see TOPICS below): +# +# rtcm_corrections - external fixed-base corrections fed into the vehicle (MAVLink +# GPS_RTCM_DATA, UAVCAN RTCMStream, GPS drivers in dump mode). Multiple +# sources are allowed, one uORB instance each; consumers select an instance +# via their stale-link logic. +# +# rtcm_moving_baseline - moving-base GPS output (RTCM 4072 or equivalent) intended for a rover. +# Single publisher per vehicle (on-board moving base, or a CANnode +# forwarding MovingBaselineData); consumers only read instance 0. + +uint64 timestamp # [us] Time since system start + +uint32 device_id # [-] Unique device ID of the publisher that produced this RTCM + +uint16 len # [-] Length of data +uint8 flags # [-] LSB: 1=fragmented +uint8[300] data # RTCM3 payload (fixed-base corrections, or moving-baseline data) + +uint8 ORB_QUEUE_LENGTH = 16 + +# Sized for the fixed-base corrections case (up to four independent sources). The moving-baseline +# topic only uses instance 0 (single publisher per vehicle). +uint8 MAX_INSTANCES = 4 + +# TOPICS rtcm_corrections rtcm_moving_baseline +``` + +::: diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md index b481064212..9b68b3568e 100644 --- a/docs/en/msg_docs/index.md +++ b/docs/en/msg_docs/index.md @@ -161,7 +161,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [GpioOut](GpioOut.md) — GPIO mask and state. - [GpioRequest](GpioRequest.md) — Request GPIO mask to be read. - [GpsDump](GpsDump.md) — This message is used to dump the raw gps communication to the log. -- [GpsInjectData](GpsInjectData.md) - [Gripper](Gripper.md) — # Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module. - [HealthReport](HealthReport.md) - [HeaterStatus](HeaterStatus.md) @@ -239,6 +238,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [RoverSteeringSetpoint](RoverSteeringSetpoint.md) — Rover Steering setpoint. - [RoverThrottleSetpoint](RoverThrottleSetpoint.md) — Rover Throttle setpoint. - [Rpm](Rpm.md) +- [RtcmData](RtcmData.md) — RTCM3 data exchanged with GNSS receivers. - [RtlStatus](RtlStatus.md) - [RtlTimeEstimate](RtlTimeEstimate.md) - [SatelliteInfo](SatelliteInfo.md)