fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 06:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gps/gps.cpp
+13 -8
View File
@@ -289,11 +289,13 @@ GPS::task_main()
//no time and satellite information simulated //no time and satellite information simulated
if (_report_pub > 0) { if (!(_pub_blocked)) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else { } else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
}
} }
usleep(2e5); usleep(2e5);
@@ -330,11 +332,14 @@ GPS::task_main()
while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
// lock(); // lock();
/* opportunistic publishing - else invalid data would end up on the bus */ /* 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 { if (!(_pub_blocked)) {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); 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++; last_rate_count++;
src/drivers/gps/gps_helper.cpp
+4 -3
View File
@@ -1,8 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -41,6 +39,9 @@
/** /**
* @file gps_helper.cpp * @file gps_helper.cpp
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/ */
float float
src/drivers/gps/gps_helper.h
+3 -3
View File
@@ -1,8 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -35,6 +33,8 @@
/** /**
* @file gps_helper.h * @file gps_helper.h
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/ */
#ifndef GPS_HELPER_H #ifndef GPS_HELPER_H
src/drivers/gps/module.mk
+1 -1
View File
@@ -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 # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
src/drivers/gps/mtk.cpp
+7 -4
View File
@@ -1,8 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2013 PX4 Development Team. All rights reserved. * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * 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 <unistd.h>
#include <stdio.h> #include <stdio.h>
src/drivers/gps/mtk.h
+7 -4
View File
@@ -1,8 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * 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_ #ifndef MTK_H_
#define MTK_H_ #define MTK_H_
src/drivers/gps/ubx.cpp
+6 -4
View File
@@ -1,9 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2013 PX4 Development Team. All rights reserved. * Copyright (c) 2012, 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>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -40,8 +37,13 @@
* U-Blox protocol implementation. Following u-blox 6/7 Receiver Description * U-Blox protocol implementation. Following u-blox 6/7 Receiver Description
* including Prototol Specification. * 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 * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
*/ */
#include <assert.h> #include <assert.h>
#include <math.h> #include <math.h>
#include <poll.h> #include <poll.h>
src/drivers/gps/ubx.h
+12 -5
View File
@@ -1,9 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. * Copyright (c) 2012, 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>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * 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_ #ifndef UBX_H_
#define UBX_H_ #define UBX_H_