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Minor quick cleanups

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This commit is contained in:
Lorenz Meier
2013-02-04 17:55:58 +01:00
parent 30f028908a
commit 13ec067570
2 changed files with 89 additions and 47 deletions
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apps/drivers/gps/ubx.cpp
+14 -14
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@@ -371,7 +371,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
}
break;
default: //should not happen because we set the class
printf("UBX Error, we set a class that we don't know\n");
warnx("UBX Error, we set a class that we don't know\n");
decodeInit();
break;
}
@@ -410,7 +410,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
_new_nav_posllh = true;
} else {
printf("[gps] NAV_POSLLH: checksum invalid\n");
warnx("NAV_POSLLH: checksum invalid\n");
}
// Reset state machine to decode next packet
@@ -437,7 +437,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
_new_nav_sol = true;
} else {
printf("[gps] NAV_SOL: checksum invalid\n");
warnx("NAV_SOL: checksum invalid\n");
}
// Reset state machine to decode next packet
@@ -463,7 +463,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
_new_nav_dop = true;
} else {
printf("[gps] NAV_DOP: checksum invalid\n");
warnx("NAV_DOP: checksum invalid\n");
}
// Reset state machine to decode next packet
@@ -624,7 +624,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
_new_nav_velned = true;
} else {
printf("[gps] NAV_VELNED: checksum invalid\n");
warnx("NAV_VELNED: checksum invalid\n");
}
// Reset state machine to decode next packet
@@ -651,7 +651,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
// ret = 1;
//
// } else {
// printf("[gps] RXM_SVSI: checksum invalid\n");
// warnx("RXM_SVSI: checksum invalid\n");
// }
//
// // Reset state machine to decode next packet
@@ -719,7 +719,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
break;
}
} else {
printf("[gps] ACK_ACK: checksum invalid\n");
warnx("ACK_ACK: checksum invalid\n");
}
// Reset state machine to decode next packet
@@ -736,11 +736,11 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
//Check if checksum is valid
if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
printf("[gps] the ubx gps returned: not acknowledged\n");
warnx("the ubx gps returned: not acknowledged\n");
ret = 1;
} else {
printf("[gps] ACK_NAK: checksum invalid\n");
warnx("ACK_NAK: checksum invalid\n");
}
// Reset state machine to decode next packet
@@ -768,16 +768,16 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
break;
}
/* return 1 when all needed messages have arrived */
/* return 1 when position updates and the remaining packets updated at least once */
if(_new_nav_posllh &&_new_nav_timeutc && _new_nav_dop && _new_nav_sol && _new_nav_velned) {
gps_position->timestamp = hrt_absolute_time();
ret = 1;
_new_nav_posllh = false;
_new_nav_timeutc = false;
_new_nav_dop = false;
_new_nav_sol = false;
_new_nav_velned = false;
// _new_nav_timeutc = false;
// _new_nav_dop = false;
// _new_nav_sol = false;
// _new_nav_velned = false;
}
return ret;