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Update Ublox RTK example #749

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Merged
merged 3 commits into from
Feb 19, 2025
Merged

Update Ublox RTK example #749

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8b94d7a
Update rtcm type base64
Feb 5, 2025
e8c1ed8
fix style
Feb 7, 2025
1beb3a7
fix style trailing whitespace
Feb 13, 2025
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15 changes: 8 additions & 7 deletions examples/rtk_base_ublox.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
import asyncio
import serial
from mavsdk import System, rtk
import base64

PREAMBLE_RTCM = 0xD3
PREAMBLE_UBX = 0xB5
Expand Down Expand Up @@ -135,15 +136,15 @@ async def send_rtcm(drone):
if rtcm_correction_data is None:
continue

# We convert the data to a string here as the API wants it even
# though it should be raw bytes.
# This creates an odd Python string that gets decoded on the
# C++ server side.
# With MAVSDK v2, the API will change to a vector of bytes
# instead of this clunky string.
# Convert the rtcm data to a base64,
# In MAVSDK v3 the rtcm data is expected
# to be base64 encoded string .
base64_rtcm_data = base64.b64encode(
rtcm_correction_data).decode('utf-8')

# Send RTCM
await drone.rtk.send_rtcm_data(
rtk.RtcmData(str(rtcm_correction_data)))
rtk.RtcmData(base64_rtcm_data))

elif ord(preamble) == PREAMBLE_UBX:
ubx = ubx_parser.read_packet(ublox, preamble)
Expand Down