fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-04 05:21:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Gps driver: make enable_sat_info a command line option

Browse Source
This commit is contained in:
Kynos
2014-06-08 17:54:50 +02:00
parent 3538773b99
commit 07458b284d
1 changed files with 19 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gps/gps.cpp
+19 -9
View File
@@ -83,7 +83,7 @@ static const int ERROR = -1;
class GPS : public device::CDev class GPS : public device::CDev
{ {
public: public:
GPS(const char *uart_path, bool fake_gps); GPS(const char *uart_path, bool fake_gps, bool enable_sat_info);
virtual ~GPS(); virtual ~GPS();
virtual int init(); virtual int init();
@@ -113,6 +113,7 @@ private:
orb_advert_t _report_sat_info_pub; ///< uORB pub for satellite info orb_advert_t _report_sat_info_pub; ///< uORB pub for satellite info
float _rate; ///< position update rate float _rate; ///< position update rate
bool _fake_gps; ///< fake gps output bool _fake_gps; ///< fake gps output
bool _enable_sat_info; ///< enable sat info
/** /**
@@ -157,7 +158,7 @@ GPS *g_dev;
} }
GPS::GPS(const char *uart_path, bool fake_gps) : GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) :
CDev("gps", GPS_DEVICE_PATH), CDev("gps", GPS_DEVICE_PATH),
_task_should_exit(false), _task_should_exit(false),
_healthy(false), _healthy(false),
@@ -167,7 +168,8 @@ GPS::GPS(const char *uart_path, bool fake_gps) :
_report_gps_pos_pub(-1), _report_gps_pos_pub(-1),
_report_sat_info_pub(-1), _report_sat_info_pub(-1),
_rate(0.0f), _rate(0.0f),
_fake_gps(fake_gps) _fake_gps(fake_gps),
_enable_sat_info(enable_sat_info)
{ {
/* store port name */ /* store port name */
strncpy(_port, uart_path, sizeof(_port)); strncpy(_port, uart_path, sizeof(_port));
@@ -318,7 +320,7 @@ GPS::task_main()
switch (_mode) { switch (_mode) {
case GPS_DRIVER_MODE_UBX: case GPS_DRIVER_MODE_UBX:
_Helper = new UBX(_serial_fd, &_report_gps_pos, &_report_sat_info, UBX_ENABLE_NAV_SVINFO); _Helper = new UBX(_serial_fd, &_report_gps_pos, &_report_sat_info, _enable_sat_info);
break; break;
case GPS_DRIVER_MODE_MTK: case GPS_DRIVER_MODE_MTK:
@@ -464,6 +466,7 @@ GPS::print_info()
} }
warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK"); warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
warnx("sat info: %s", (_enable_sat_info) ? "enabled" : "disabled");
if (_report_gps_pos.timestamp_position != 0) { if (_report_gps_pos.timestamp_position != 0) {
warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type, warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
@@ -487,7 +490,7 @@ namespace gps
GPS *g_dev; GPS *g_dev;
void start(const char *uart_path, bool fake_gps); void start(const char *uart_path, bool fake_gps, bool enable_sat_info);
void stop(); void stop();
void test(); void test();
void reset(); void reset();
@@ -497,7 +500,7 @@ void info();
* Start the driver. * Start the driver.
*/ */
void void
start(const char *uart_path, bool fake_gps) start(const char *uart_path, bool fake_gps, bool enable_sat_info)
{ {
int fd; int fd;
@@ -505,7 +508,7 @@ start(const char *uart_path, bool fake_gps)
errx(1, "already started"); errx(1, "already started");
/* create the driver */ /* create the driver */
g_dev = new GPS(uart_path, fake_gps); g_dev = new GPS(uart_path, fake_gps, enable_sat_info);
if (g_dev == nullptr) if (g_dev == nullptr)
goto fail; goto fail;
@@ -598,6 +601,7 @@ gps_main(int argc, char *argv[])
/* set to default */ /* set to default */
const char *device_name = GPS_DEFAULT_UART_PORT; const char *device_name = GPS_DEFAULT_UART_PORT;
bool fake_gps = false; bool fake_gps = false;
bool enable_sat_info = false;
/* /*
* Start/load the driver. * Start/load the driver.
@@ -619,7 +623,13 @@ gps_main(int argc, char *argv[])
fake_gps = true; fake_gps = true;
} }
gps::start(device_name, fake_gps); /* Detect sat info option */
for (int i = 2; i < argc; i++) {
if (!strcmp(argv[i], "-s"))
enable_sat_info = true;
}
gps::start(device_name, fake_gps, enable_sat_info);
} }
if (!strcmp(argv[1], "stop")) if (!strcmp(argv[1], "stop"))
@@ -644,5 +654,5 @@ gps_main(int argc, char *argv[])
gps::info(); gps::info();
out: out:
errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f]"); errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f][-s]");
} }