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More cleanup

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This commit is contained in:
Lorenz Meier
2013-02-04 18:00:10 +01:00
parent 13ec067570
commit d4bd7225ba
2 changed files with 13 additions and 12 deletions
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apps/drivers/gps/gps.cpp
+2 -1
View File
@@ -341,7 +341,8 @@ GPS::task_main()
if (_mode_changed) { if (_mode_changed) {
if (_Helper != nullptr) { if (_Helper != nullptr) {
delete(_Helper); delete(_Helper);
_Helper = nullptr; // XXX is this needed? /* set to zero to ensure parser is not used while not instantiated */
_Helper = nullptr;
} }
switch (_mode) { switch (_mode) {
apps/drivers/gps/ubx.cpp
+11 -11
View File
@@ -371,7 +371,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
} }
break; break;
default: //should not happen because we set the class default: //should not happen because we set the class
warnx("UBX Error, we set a class that we don't know\n"); warnx("UBX Error, we set a class that we don't know");
decodeInit(); decodeInit();
break; break;
} }
@@ -410,7 +410,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
_new_nav_posllh = true; _new_nav_posllh = true;
} else { } else {
warnx("NAV_POSLLH: checksum invalid\n"); warnx("NAV_POSLLH: checksum invalid");
} }
// Reset state machine to decode next packet // Reset state machine to decode next packet
@@ -437,7 +437,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
_new_nav_sol = true; _new_nav_sol = true;
} else { } else {
warnx("NAV_SOL: checksum invalid\n"); warnx("NAV_SOL: checksum invalid");
} }
// Reset state machine to decode next packet // Reset state machine to decode next packet
@@ -463,7 +463,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
_new_nav_dop = true; _new_nav_dop = true;
} else { } else {
warnx("NAV_DOP: checksum invalid\n"); warnx("NAV_DOP: checksum invalid");
} }
// Reset state machine to decode next packet // Reset state machine to decode next packet
@@ -499,7 +499,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
_new_nav_timeutc = true; _new_nav_timeutc = true;
} else { } else {
printf("\t[gps] NAV_TIMEUTC: checksum invalid\n"); warnx("NAV_TIMEUTC: checksum invalid");
} }
// Reset state machine to decode next packet // Reset state machine to decode next packet
@@ -593,7 +593,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
// as this message arrives only with 1Hz and is not essential, we don't take it into account for the report // as this message arrives only with 1Hz and is not essential, we don't take it into account for the report
} else { } else {
printf("\t[gps] NAV_SVINFO: checksum invalid\n"); warnx("NAV_SVINFO: checksum invalid");
} }
// Reset state machine to decode next packet // Reset state machine to decode next packet
@@ -624,7 +624,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
_new_nav_velned = true; _new_nav_velned = true;
} else { } else {
warnx("NAV_VELNED: checksum invalid\n"); warnx("NAV_VELNED: checksum invalid");
} }
// Reset state machine to decode next packet // Reset state machine to decode next packet
@@ -719,7 +719,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
break; break;
} }
} else { } else {
warnx("ACK_ACK: checksum invalid\n"); warnx("ACK_ACK: checksum invalid");
} }
// Reset state machine to decode next packet // Reset state machine to decode next packet
@@ -736,7 +736,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
//Check if checksum is valid //Check if checksum is valid
if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) { if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
warnx("the ubx gps returned: not acknowledged\n"); warnx("UBX: NO ACK");
ret = 1; ret = 1;
} else { } else {
@@ -751,7 +751,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
} }
default: //we don't know the message default: //we don't know the message
printf("Unknown message received: %d-%d\n",_message_class,_message_id); warnx("UBX: Unknown message received: %d-%d\n",_message_class,_message_id);
decodeInit(); decodeInit();
break; break;
@@ -760,7 +760,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
if (_rx_count < RECV_BUFFER_SIZE) { if (_rx_count < RECV_BUFFER_SIZE) {
_rx_count++; _rx_count++;
} else { } else {
printf("Buffer full"); warnx("buffer overflow");
decodeInit(); decodeInit();
} }
break; break;