diydrones/ardupilot — pull request #1137 by njoubert (2014-06-10 23:12:22+00:00)
Title: GPS MAVLink integration for RTK messages

This pull request adds the GPS_RTK and GPS2_RTK MAVLink messages to communicate RTK-specific information from the GPS. It refactors the GPS library to construct its own MAVLink messages internally, allowing the driver to report internal details without exposing an API for them.