feat: add GPSHelper::isMovingBase() virtual#206
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Lets callers query whether a configured GPS is acting as a moving base. Used by the PX4 gps driver to route RTCM output (RTCM 4072 moving-baseline data for a rover) to a dedicated uORB topic, separate from external fixed-base corrections. UBX override: true when UBXMode is MovingBase or MovingBaseUART1. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
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Summary
Adds a
virtual bool isMovingBase() constonGPSHelper(defaults tofalse) and overrides it inGPSDriverUBXto return true when the UBX mode isMovingBaseorMovingBaseUART1.Companion PR in PX4-Autopilot (PX4/PX4-Autopilot#TBD) uses this to route moving-baseline RTCM (RTCM 4072) to a dedicated
rtcm_moving_baselineuORB topic, separate from external fixed-base corrections onrtcm_corrections. That fixes the topic conflation described in PX4/PX4-Autopilot#27088, which breaks dual GPS (moving base + rover) + fixed base setups.