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Ashtech GPS driver

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This commit is contained in:
Denis Yeldandi
2014-09-30 15:44:47 +04:00
parent 8ced6bb49b
commit 213f4aadbd
6 changed files with 734 additions and 2 deletions
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src/drivers/gps/gps.cpp
+18
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@@ -69,6 +69,7 @@
#include "ubx.h"
#include "mtk.h"
#include "ashtech.h"
#define TIMEOUT_5HZ 500
@@ -341,6 +342,11 @@ GPS::task_main()
_Helper = new MTK(_serial_fd, &_report_gps_pos);
break;
case GPS_DRIVER_MODE_ASHTECH:
_Helper = new ASHTECH(_serial_fd, &_report_gps_pos, _p_report_sat_info);
break;
default:
break;
}
@@ -402,6 +408,10 @@ GPS::task_main()
mode_str = "MTK";
break;
case GPS_DRIVER_MODE_ASHTECH:
mode_str = "ASHTECH";
break;
default:
break;
}
@@ -429,6 +439,10 @@ GPS::task_main()
break;
case GPS_DRIVER_MODE_MTK:
_mode = GPS_DRIVER_MODE_ASHTECH;
break;
case GPS_DRIVER_MODE_ASHTECH:
_mode = GPS_DRIVER_MODE_UBX;
break;
@@ -475,6 +489,10 @@ GPS::print_info()
warnx("protocol: MTK");
break;
case GPS_DRIVER_MODE_ASHTECH:
warnx("protocol: ASHTECH");
break;
default:
break;
}