Multiple processes accessing GPS data

[Connerj55]

I have run across a situation where I would like to create a GPSD server for multiple processes to access GPS data from but when I start up APM the process takes rw privileges of the serial port ( /dev/ttyXX ) so my GPSD server can no longer read the data.

Is there any work-arounds anyone would recommend?
(I am trying to fly my drone with APM while allowing Kismet to also access the GPS for network geo-mapping)

I am using a Raspberry Pi 3 with PXF Mini and the Erle Frambuesa distro.

[imuguruza]

@Connerj55 I would use ROS, specially MAVROS packages to read the GPS message. Check section 6.6 global_position

Iñigo

[jham]

Hey Iñigo,

Do you know if MAVROS ( any program really that uses GPS ) needs to have write access? At the end of the day the only thing that is the issue is the mutex for write access on that file.

-Jorden

[imuguruza]

@jham MAVROS does not acces to GPS port, reads the MavLink packages and turns it into ROS structure.

Iñigo

[LanderU]