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Merge branch 'master' into navigator_rewrite

Browse Source 
Conflicts:
	src/drivers/gps/gps.cpp
	src/drivers/gps/mtk.cpp
	src/modules/commander/commander.cpp
	src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
	src/modules/navigator/mission.cpp
	src/modules/navigator/mission.h
	src/modules/navigator/navigator_main.cpp
	src/modules/navigator/navigator_state.h
	src/modules/position_estimator_inav/position_estimator_inav_main.c
This commit is contained in:
Julian Oes
2014-05-26 20:19:11 +02:00
parent 68352cb923 36495cdb62
commit 063caba36b
173 changed files with 5312 additions and 1890 deletions
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src/drivers/gps/ubx.cpp
+36 -11
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@@ -164,7 +164,7 @@ UBX::configure(unsigned &baudrate)
send_config_packet(_fd, (uint8_t *)&cfg_rate_packet, sizeof(cfg_rate_packet));
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: configuration failed: RATE");
warnx("CFG FAIL: RATE");
return 1;
}
@@ -185,7 +185,7 @@ UBX::configure(unsigned &baudrate)
send_config_packet(_fd, (uint8_t *)&cfg_nav5_packet, sizeof(cfg_nav5_packet));
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: configuration failed: NAV5");
warnx("CFG FAIL: NAV5");
return 1;
}
@@ -194,35 +194,42 @@ UBX::configure(unsigned &baudrate)
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_POSLLH, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV POSLLH");
warnx("MSG CFG FAIL: NAV POSLLH");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV TIMEUTC");
warnx("MSG CFG FAIL: NAV TIMEUTC");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SOL, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV SOL");
warnx("MSG CFG FAIL: NAV SOL");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_VELNED, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV VELNED");
warnx("MSG CFG FAIL: NAV VELNED");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV SVINFO");
warnx("MSG CFG FAIL: NAV SVINFO");
return 1;
}
configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("MSG CFG FAIL: MON HW");
return 1;
}
@@ -274,7 +281,7 @@ UBX::receive(unsigned timeout)
if (ret < 0) {
/* something went wrong when polling */
warnx("ubx: poll error");
warnx("poll error");
return -1;
} else if (ret == 0) {
@@ -310,7 +317,7 @@ UBX::receive(unsigned timeout)
/* abort after timeout if no useful packets received */
if (time_started + timeout * 1000 < hrt_absolute_time()) {
warnx("ubx: timeout - no useful messages");
warnx("timeout - no useful messages");
return -1;
}
}
@@ -383,7 +390,7 @@ UBX::parse_char(uint8_t b)
return 1; // message received successfully
} else {
warnx("ubx: checksum wrong");
warnx("checksum wrong");
decode_init();
return -1;
}
@@ -392,7 +399,7 @@ UBX::parse_char(uint8_t b)
_rx_count++;
} else {
warnx("ubx: buffer full");
warnx("buffer full");
decode_init();
return -1;
}
@@ -566,6 +573,24 @@ UBX::handle_message()
break;
}
case UBX_CLASS_MON: {
switch (_message_id) {
case UBX_MESSAGE_MON_HW: {
struct gps_bin_mon_hw_packet *p = (struct gps_bin_mon_hw_packet*) _rx_buffer;
_gps_position->noise_per_ms = p->noisePerMS;
_gps_position->jamming_indicator = p->jamInd;
ret = 1;
break;
}
default:
break;
}
}
default:
break;
}