{"action":"opened","issue":{"url":"https://api.github.com/repos/mavlink/mavlink/issues/496","labels_url":"https://api.github.com/repos/mavlink/mavlink/issues/496/labels{/name}","comments_url":"https://api.github.com/repos/mavlink/mavlink/issues/496/comments","events_url":"https://api.github.com/repos/mavlink/mavlink/issues/496/events","html_url":"https://github.com/mavlink/mavlink/issues/496","id":125202475,"number":496,"title":"Shortcomings of the current GPS_RAW_INT and GPS2_RAW messages","user":{"login":"WickedShell","id":567688,"avatar_url":"https://avatars.githubusercontent.com/u/567688?v=3","gravatar_id":"","url":"https://api.github.com/users/WickedShell","html_url":"https://github.com/WickedShell","followers_url":"https://api.github.com/users/WickedShell/followers","following_url":"https://api.github.com/users/WickedShell/following{/other_user}","gists_url":"https://api.github.com/users/WickedShell/gists{/gist_id}","starred_url":"https://api.github.com/users/WickedShell/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/WickedShell/subscriptions","organizations_url":"https://api.github.com/users/WickedShell/orgs","repos_url":"https://api.github.com/users/WickedShell/repos","events_url":"https://api.github.com/users/WickedShell/events{/privacy}","received_events_url":"https://api.github.com/users/WickedShell/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2016-01-06T15:49:04Z","updated_at":"2016-01-06T15:49:04Z","closed_at":null,"body":"One of the problems we have with APM is that while we allow and use multiple GPS units there is no method for us to report over MAVLink which one is the primary GPS and being used to control the aircraft. If we could add a bool for isPrimary to both GPS_RAW_INT ( 24 ) and GPS2_RAW ( 124 ) that would be extremely helpful.\r\n\r\nI think it's also worth mentioning that the differences in fields between the two, (GPS2 has DGPS reports). This actually adds complexity as if you wanted to use any of the DGPS reporting you have to ensure that the GPS is communicated as GPS2. This also imposes an artificial limit on the number of GPS instances that can be reported at once, as there are only 2 messages available to pass GPS data down to the GCS, and they are formatted differently and must be handled differently in the generation on the vehicle and the parser on the GCS or other target MAVLink device. I think we could clean both of these problems up quite easily by moving to a single GPS_RAW message that has a 8 bit field for tracking which GPS instance it is. This simplifies the parsing and the generation to always use the same code path quite nicely."}}