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GPS driver feedback cleanup

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This commit is contained in:
Lorenz Meier
2015-01-04 12:05:40 +01:00
parent 9c70946bf7
commit eefad6217d
4 changed files with 20 additions and 23 deletions
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src/drivers/gps/mtk.cpp
+10 -12
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2015 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
@@ -73,39 +73,38 @@ MTK::configure(unsigned &baudrate)
/* Write config messages, don't wait for an answer */
if (strlen(MTK_OUTPUT_5HZ) != write(_fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ))) {
warnx("mtk: config write failed");
return -1;
goto errout;
}
usleep(10000);
if (strlen(MTK_SET_BINARY) != write(_fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) {
warnx("mtk: config write failed");
return -1;
goto errout;
}
usleep(10000);
if (strlen(SBAS_ON) != write(_fd, SBAS_ON, strlen(SBAS_ON))) {
warnx("mtk: config write failed");
return -1;
goto errout;
}
usleep(10000);
if (strlen(WAAS_ON) != write(_fd, WAAS_ON, strlen(WAAS_ON))) {
warnx("mtk: config write failed");
return -1;
goto errout;
}
usleep(10000);
if (strlen(MTK_NAVTHRES_OFF) != write(_fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) {
warnx("mtk: config write failed");
return -1;
goto errout;
}
return 0;
errout:
warnx("mtk: config write failed");
return -1;
}
int
@@ -222,7 +221,6 @@ MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet)
ret = 1;
} else {
warnx("MTK Checksum invalid");
ret = -1;
}