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Support disabling GPS output via IOCTL, general cleanup of author and copyright code style

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This commit is contained in:
Lorenz Meier 2014-01-12 11:52:19 +01:00
parent b23af61087
commit c6e196edca
8 changed files with 53 additions and 32 deletions
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21
src/drivers/gps/gps.cpp
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@ -289,11 +289,13 @@ GPS::task_main()
//no time and satellite information simulated
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
if (!(_pub_blocked)) {
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
}
}
usleep(2e5);
@ -330,11 +332,14 @@ GPS::task_main()
while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
// lock();
/* opportunistic publishing - else invalid data would end up on the bus */
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
if (!(_pub_blocked)) {
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
}
}
last_rate_count++;

7
src/drivers/gps/gps_helper.cpp
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@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -41,6 +39,9 @@
/**
* @file gps_helper.cpp
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
float

6
src/drivers/gps/gps_helper.h
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@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -35,6 +33,8 @@
/**
* @file gps_helper.h
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef GPS_HELPER_H

2
src/drivers/gps/module.mk
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@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions

11
src/drivers/gps/mtk.cpp
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@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,7 +31,12 @@
*
****************************************************************************/
/* @file mkt.cpp */
/**
* @file mkt.cpp
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#include <unistd.h>
#include <stdio.h>

11
src/drivers/gps/mtk.h
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@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,7 +31,12 @@
*
****************************************************************************/
/* @file mtk.h */
/**
* @file mkt.cpp
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef MTK_H_
#define MTK_H_

10
src/drivers/gps/ubx.cpp
View File

@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -40,8 +37,13 @@
* U-Blox protocol implementation. Following u-blox 6/7 Receiver Description
* including Prototol Specification.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
*/
#include <assert.h>
#include <math.h>
#include <poll.h>

17
src/drivers/gps/ubx.h
View File

@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -34,7 +31,17 @@
*
****************************************************************************/
/* @file U-Blox protocol definitions */
/**
* @file ubx.h
*
* U-Blox protocol definition. Following u-blox 6/7 Receiver Description
* including Prototol Specification.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
*/
#ifndef UBX_H_
#define UBX_H_