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Adds Auto Mode Scanning

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This commit is contained in:
Miguel Arroyo 2016-09-06 16:43:28 -04:00 committed by Lorenz Meier
parent 2799525462
commit c6f43689e7
2 changed files with 31 additions and 3 deletions
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2
posix-configs/rpi/px4.config
View File

@ -7,7 +7,7 @@ df_lsm9ds1_wrapper start -R 4
#df_mpu9250_wrapper start -R 10
#df_hmc5883_wrapper start
df_ms5611_wrapper start
gps start -d /dev/spidev0.0
gps start -d /dev/spidev0.0 -i spi -p ubx
sensors start
commander start
attitude_estimator_q start

32
src/drivers/gps/gps.cpp
View File

@ -124,8 +124,9 @@ private:
bool _healthy; ///< flag to signal if the GPS is ok
bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed
bool _mode_changed; ///< flag that the GPS mode has changed
bool _mode_auto;
gps_driver_mode_t _mode; ///< current mode
gps_driver_interface_t _interface;
gps_driver_interface_t _interface; ///< interface
GPSHelper *_helper; ///< instance of GPS parser
GPS_Sat_Info *_sat_info; ///< instance of GPS sat info data object
struct vehicle_gps_position_s _report_gps_pos; ///< uORB topic for gps position
@ -279,6 +280,10 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, gps_driver_interface_t interf
_p_report_sat_info = &_sat_info->_data;
memset(_p_report_sat_info, 0, sizeof(*_p_report_sat_info));
}
if (mode == GPS_DRIVER_MODE_NONE) {
_mode_auto = true;
}
}
GPS::~GPS()
@ -719,6 +724,9 @@ GPS::task_main()
}
switch (_mode) {
case GPS_DRIVER_MODE_NONE:
_mode = GPS_DRIVER_MODE_UBX;
case GPS_DRIVER_MODE_UBX:
_helper = new GPSDriverUBX(helper_interface, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
break;
@ -825,6 +833,26 @@ GPS::task_main()
_rate_rtcm_injection = 0.0f;
}
}
if (_mode_auto) {
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
_mode = GPS_DRIVER_MODE_MTK;
break;
case GPS_DRIVER_MODE_MTK:
_mode = GPS_DRIVER_MODE_ASHTECH;
break;
case GPS_DRIVER_MODE_ASHTECH:
_mode = GPS_DRIVER_MODE_UBX;
break;
default:
break;
}
}
}
}
@ -1049,7 +1077,7 @@ gps_main(int argc, char *argv[])
bool fake_gps = false;
bool enable_sat_info = false;
gps_driver_interface_t interface = GPS_DRIVER_UART;
gps_driver_mode_t mode = GPS_DRIVER_MODE_UBX;
gps_driver_mode_t mode = GPS_DRIVER_MODE_NONE;
if (argc < 2) {
goto out;