fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-01 11:14:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed GPS status detection

Browse Source
This commit is contained in:
Lorenz Meier 2012-11-12 17:36:17 +01:00
parent 2c12802f25
commit 66e806754b
2 changed files with 10 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
apps/gps/mtk.c
View File

@ -418,10 +418,11 @@ void *mtk_watchdog_loop(void *args)
mtk_gps->satellite_info_available = 0;
// global_data_send_subsystem_info(&mtk_present_enabled_healthy);
mavlink_log_info(mavlink_fd, "[gps] MTK custom binary module found, status ok\n");
mtk_healthy = true;
mtk_fail_count = 0;
once_ok = true;
}
mtk_healthy = true;
mtk_fail_count = 0;
once_ok = true;
}
usleep(MTK_WATCHDOG_WAIT_TIME_MICROSECONDS);

11
apps/gps/ubx.c
View File

@ -272,7 +272,8 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer)
ubx_gps->timestamp = hrt_absolute_time();
ubx_gps->counter++;
ubx_gps->s_variance = packet->sAcc;
ubx_gps->p_variance = packet->pAcc;
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[NAV_SOL - 1] = hrt_absolute_time();
@ -785,10 +786,6 @@ void *ubx_watchdog_loop(void *args)
sleep(1);
} else {
/* gps healthy */
ubx_success_count++;
ubx_healthy = true;
ubx_fail_count = 0;
if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) {
//printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
@ -799,6 +796,10 @@ void *ubx_watchdog_loop(void *args)
once_ok = true;
}
/* gps healthy */
ubx_success_count++;
ubx_healthy = true;
ubx_fail_count = 0;
}
usleep(UBX_WATCHDOG_WAIT_TIME_MICROSECONDS);