Bitcraze Forums

Hi
To go further in the evaluation of a GNSS receiver on crazyflie, to exchange with it, I want to use proprietary messages (UBX messages for Ublox). But I think it should be useful to use another port than console's.
My question is: can I use port 6 (localization)? And which channel (the 7th) to avoid interferences with LPS or Kinect applications?
Regards
Jean-Claude

Hi,

This port has been made to host any kind of localisation so it could be a good fit yes. I guess you want to channel the raw data packet from the GPS down to the ground?

The localization generic port/channel is using a byte header to differenciate which packet is sent, I suggest you use that since it allows to have much more packet types than the crtp port/channel only: https://github.com/bitcraze/crazyflie-f ... .h#L41-L48

The best way to reserve the type would be a pull request with the tunneling functionality, this way we will have it in master and will not re-use it for something else.

Good