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Code Issues Releases Activity

OP-1404 - minor cleanup, removed some duplicated code

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This commit is contained in:
Alessio Morale 2014-08-09 12:49:21 +02:00
parent 2932045e3d
commit 1158c70a46
1 changed files with 18 additions and 28 deletions
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46
flight/modules/GPS/UBX.c
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@ -350,8 +350,8 @@ void parse_ubx_nav_svinfo(struct UBX_NAV_SVINFO *svinfo)
uint32_t parse_ubx_message(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition)
{
uint32_t id = 0;
static uint32_t lastPvtTime;
static bool ubxInitialized = false;
static uint32_t lastPvtTime = 0;
static bool ubxInitialized = false;
if (!ubxInitialized) {
// initialize dop values. If no DOP sentence is received it is safer to initialize them to a high value rather than 0.
@ -361,58 +361,48 @@ uint32_t parse_ubx_message(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosi
ubxInitialized = true;
}
// is it using PVT?
bool usePvt = (PIOS_DELAY_GetuSSince(lastPvtTime) < UBX_PVT_TIMEOUT * 1000);
bool usePvt = (lastPvtTime) && (PIOS_DELAY_GetuSSince(lastPvtTime) < UBX_PVT_TIMEOUT * 1000);
switch (ubx->header.class) {
case UBX_CLASS_NAV:
if (!usePvt) {
// Set of messages to be decoded when not using pvt
switch (ubx->header.id) {
case UBX_ID_POSLLH:
parse_ubx_nav_posllh(&ubx->payload.nav_posllh, GpsPosition);
break;
case UBX_ID_DOP:
parse_ubx_nav_dop(&ubx->payload.nav_dop, GpsPosition);
break;
case UBX_ID_SOL:
parse_ubx_nav_sol(&ubx->payload.nav_sol, GpsPosition);
break;
case UBX_ID_VELNED:
parse_ubx_nav_velned(&ubx->payload.nav_velned, GpsPosition);
break;
case UBX_ID_PVT:
parse_ubx_nav_pvt(&ubx->payload.nav_pvt, GpsPosition);
lastPvtTime = PIOS_DELAY_GetuS();
break;
#if !defined(PIOS_GPS_MINIMAL)
case UBX_ID_TIMEUTC:
parse_ubx_nav_timeutc(&ubx->payload.nav_timeutc);
break;
case UBX_ID_SVINFO:
parse_ubx_nav_svinfo(&ubx->payload.nav_svinfo);
break;
#endif
}
} else {
switch (ubx->header.id) {
case UBX_ID_DOP:
parse_ubx_nav_dop(&ubx->payload.nav_dop, GpsPosition);
break;
}
// messages used always
switch (ubx->header.id) {
case UBX_ID_DOP:
parse_ubx_nav_dop(&ubx->payload.nav_dop, GpsPosition);
break;
case UBX_ID_PVT:
parse_ubx_nav_pvt(&ubx->payload.nav_pvt, GpsPosition);
lastPvtTime = PIOS_DELAY_GetuS();
break;
case UBX_ID_PVT:
parse_ubx_nav_pvt(&ubx->payload.nav_pvt, GpsPosition);
lastPvtTime = PIOS_DELAY_GetuS();
break;
#if !defined(PIOS_GPS_MINIMAL)
case UBX_ID_SVINFO:
parse_ubx_nav_svinfo(&ubx->payload.nav_svinfo);
break;
case UBX_ID_SVINFO:
parse_ubx_nav_svinfo(&ubx->payload.nav_svinfo);
break;
#endif
default:
break;
}
}
break;
}
if (msgtracker.msg_received == ALL_RECEIVED) {
GPSPositionSensorSet(GpsPosition);
msgtracker.msg_received = NONE_RECEIVED;