GCS_MAVLink: handle common GPS messages in base GCS_MAVLINK class

libraries/GCS_MAVLink/GCS.h

@@ -223,6 +223,7 @@ protected:
     virtual AP_Rally *get_rally() const = 0;
     virtual Compass *get_compass() const = 0;
     virtual AP_ServoRelayEvents *get_servorelayevents() const = 0;
+    virtual AP_GPS *get_gps() const = 0;
 
     bool            waypoint_receiving; // currently receiving
     // the following two variables are only here because of Tracker
@@ -253,6 +254,7 @@ protected:
     void handle_param_request_list(mavlink_message_t *msg);
     void handle_param_request_read(mavlink_message_t *msg);
 
+    void handle_common_gps_message(mavlink_message_t *msg);
     void handle_common_rally_message(mavlink_message_t *msg);
     void handle_rally_fetch_point(mavlink_message_t *msg);
     void handle_rally_point(mavlink_message_t *msg);

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -1744,6 +1744,17 @@ void GCS_MAVLINK::handle_statustext(mavlink_message_t *msg)
     df->Log_Write_Message(text);
 }
 
+
+void GCS_MAVLINK::handle_common_gps_message(mavlink_message_t *msg)
+{
+    AP_GPS *gps = get_gps();
+    if (gps == nullptr) {
+        return;
+    }
+
+    gps->handle_msg(msg);
+}
+
 /*
   handle messages which don't require vehicle specific data
  */
@@ -1800,6 +1811,14 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
         handle_common_mission_message(msg);
         break;
 
+    case MAVLINK_MSG_ID_GPS_RTCM_DATA:
+        /* fall through */
+    case MAVLINK_MSG_ID_GPS_INPUT:
+        /* fall through */
+    case MAVLINK_MSG_ID_HIL_GPS:
+        handle_common_gps_message(msg);
+        break;
+
     case MAVLINK_MSG_ID_STATUSTEXT:
         handle_statustext(msg);
         break;

libraries/GCS_MAVLink/GCS_Dummy.h

@@ -17,6 +17,7 @@ protected:
     Compass *get_compass() const override { return nullptr; };
     AP_Mission *get_mission() override { return nullptr; }
     AP_Rally *get_rally() const override { return nullptr; };
+    AP_GPS *get_gps() const override { return nullptr; };
     AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; }
 
     uint8_t sysid_my_gcs() const override { return 1; }

libraries/GCS_MAVLink/examples/routing/routing.cpp

@@ -25,6 +25,7 @@ protected:
     AP_Mission *get_mission() override { return nullptr; }
     AP_Rally *get_rally() const override { return nullptr; }
     AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; }
+    AP_GPS *get_gps() const override { return nullptr; };
     uint8_t sysid_my_gcs() const override { return 1; }
 
 private: