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77 lines
3.3 KiB
Markdown
77 lines
3.3 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# RtcmData (UORB message)
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RTCM3 data exchanged with GNSS receivers.
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Published under two topic names that share this definition (see TOPICS below):
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rtcm_corrections - external fixed-base corrections fed into the vehicle (MAVLink
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GPS_RTCM_DATA, UAVCAN RTCMStream, GPS drivers in dump mode). Multiple
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sources are allowed, one uORB instance each; consumers select an instance
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via their stale-link logic.
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rtcm_moving_baseline - moving-base GPS output (RTCM 4072 or equivalent) intended for a rover.
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Single publisher per vehicle (on-board moving base, or a CANnode
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forwarding MovingBaselineData); consumers only read instance 0.
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**TOPICS:** rtcm_corrections rtcm_moving_baseline
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ----------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
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| <a id="fld_device_id"></a>device_id | `uint32` | | | Unique device ID of the publisher that produced this RTCM |
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| <a id="fld_len"></a>len | `uint16` | | | Length of data |
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| <a id="fld_flags"></a>flags | `uint8` | | | LSB: 1=fragmented |
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| <a id="fld_data"></a>data | `uint8[300]` | | | RTCM3 payload (fixed-base corrections, or moving-baseline data) |
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## Constants
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| Name | Type | Value | Description |
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| ----------------------------------------------- | ------- | ----- | ----------- |
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| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 |
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| <a id="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 4 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtcmData.msg)
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::: details Click here to see original file
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```c
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# RTCM3 data exchanged with GNSS receivers.
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#
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# Published under two topic names that share this definition (see TOPICS below):
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#
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# rtcm_corrections - external fixed-base corrections fed into the vehicle (MAVLink
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# GPS_RTCM_DATA, UAVCAN RTCMStream, GPS drivers in dump mode). Multiple
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# sources are allowed, one uORB instance each; consumers select an instance
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# via their stale-link logic.
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#
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# rtcm_moving_baseline - moving-base GPS output (RTCM 4072 or equivalent) intended for a rover.
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# Single publisher per vehicle (on-board moving base, or a CANnode
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# forwarding MovingBaselineData); consumers only read instance 0.
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uint64 timestamp # [us] Time since system start
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uint32 device_id # [-] Unique device ID of the publisher that produced this RTCM
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uint16 len # [-] Length of data
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uint8 flags # [-] LSB: 1=fragmented
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uint8[300] data # RTCM3 payload (fixed-base corrections, or moving-baseline data)
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uint8 ORB_QUEUE_LENGTH = 16
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# Sized for the fixed-base corrections case (up to four independent sources). The moving-baseline
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# topic only uses instance 0 (single publisher per vehicle).
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uint8 MAX_INSTANCES = 4
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# TOPICS rtcm_corrections rtcm_moving_baseline
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```
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:::
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