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Merged ubx driver part of pull request #1031

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Kynos
2014-06-08 15:56:42 +02:00
parent 9f754e0e9a
commit 018eeeecad
2 changed files with 13 additions and 4 deletions
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src/drivers/gps/ubx.cpp
+11 -4
View File
@@ -74,6 +74,8 @@ UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct sate
_enable_sat_info(enable_sat_info), _enable_sat_info(enable_sat_info),
_configured(false), _configured(false),
_waiting_for_ack(false), _waiting_for_ack(false),
_got_posllh(false),
_got_velned(false),
_disable_cmd_last(0) _disable_cmd_last(0)
{ {
decode_init(); decode_init();
@@ -208,7 +210,7 @@ UBX::configure(unsigned &baudrate)
return 1; return 1;
} }
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, 1); configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, 5);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("MSG CFG FAIL: NAV TIMEUTC"); warnx("MSG CFG FAIL: NAV TIMEUTC");
@@ -286,9 +288,10 @@ UBX::receive(unsigned timeout)
int handled = 0; int handled = 0;
while (true) { while (true) {
bool ready_to_return = _configured ? (_got_posllh && _got_velned) : handled;
/* poll for new data, wait for only UBX_PACKET_TIMEOUT (2ms) if something already received */ /* poll for new data, wait for only UBX_PACKET_TIMEOUT (2ms) if something already received */
int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), handled ? UBX_PACKET_TIMEOUT : timeout); int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), ready_to_return ? UBX_PACKET_TIMEOUT : timeout);
if (ret < 0) { if (ret < 0) {
/* something went wrong when polling */ /* something went wrong when polling */
@@ -297,7 +300,9 @@ UBX::receive(unsigned timeout)
} else if (ret == 0) { } else if (ret == 0) {
/* return success after short delay after receiving a packet or timeout after long delay */ /* return success after short delay after receiving a packet or timeout after long delay */
if (handled) { if (ready_to_return) {
_got_posllh = false;
_got_velned = false;
return handled; return handled;
} else { } else {
@@ -456,7 +461,8 @@ UBX::handle_message()
_rate_count_lat_lon++; _rate_count_lat_lon++;
ret = 1; _got_posllh = true;
ret = 1;
break; break;
} }
@@ -552,6 +558,7 @@ UBX::handle_message()
_rate_count_vel++; _rate_count_vel++;
_got_velned = true;
ret = 1; ret = 1;
break; break;
} }
src/drivers/gps/ubx.h
+2
View File
@@ -436,6 +436,8 @@ private:
bool _enable_sat_info; bool _enable_sat_info;
bool _configured; bool _configured;
bool _waiting_for_ack; bool _waiting_for_ack;
bool _got_posllh;
bool _got_velned;
uint8_t _message_class_needed; uint8_t _message_class_needed;
uint8_t _message_id_needed; uint8_t _message_id_needed;
ubx_decode_state_t _decode_state; ubx_decode_state_t _decode_state;