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Code Issues Releases Activity

LP-457 Call set_fc_baud_from_settings only from/to DJI == avoid trouble for Ubxautoconfig.

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This commit is contained in:
Laurent Lalanne 2019-05-22 20:18:44 +02:00
parent 7c9f04d87c
commit 1279352a95
2 changed files with 13 additions and 15 deletions
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2
flight/modules/GPS/DJI.c
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@ -382,6 +382,8 @@ uint32_t parse_dji_message(struct DJIPacket *dji, GPSPositionSensorData *gpsPosi
gpsPosition->HDOP = 99.99f;
gpsPosition->PDOP = 99.99f;
gpsPosition->VDOP = 99.99f;
// clear out satellite data because DJI doesn't provide it
GPSSatellitesSetDefaults(GPSSatellitesHandle(), 0);
djiInitialized = true;
}

26
flight/modules/GPS/GPS.c
View File

@ -571,15 +571,14 @@ static void gps_set_fc_baud_from_settings()
uint8_t speed;
// Retrieve settings
HwSettingsGPSSpeedGet(&speed);
#if defined(PIOS_INCLUDE_GPS_DJI_PARSER) && !defined(PIOS_GPS_MINIMAL)
if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_DJI) {
speed = HWSETTINGS_GPSSPEED_115200;
} else {
#endif
HwSettingsGPSSpeedGet(&speed);
#if defined(PIOS_INCLUDE_GPS_DJI_PARSER) && !defined(PIOS_GPS_MINIMAL)
}
}
#endif
// set fc baud
gps_set_fc_baud_from_arg(speed);
}
@ -663,16 +662,19 @@ void AuxMagSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
#if defined(ANY_FULL_GPS_PARSER)
void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
{
GPSSettingsDataProtocolOptions previous_data_protocol = gpsSettings.DataProtocol;
ubx_autoconfig_settings_t newconfig;
GPSSettingsGet(&gpsSettings);
#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
// each time there is a protocol change, set the baud rate
// so that DJI can be forced to 115200, but changing to another protocol will change the baud rate to the user specified value
// note that changes to HwSettings GPS baud rate are detected in the HwSettings callback,
// but changing to/from DJI is effectively a baud rate change because DJI is forced to be 115200
gps_set_fc_baud_from_settings(); // knows to force 115200 for DJI
// but changing to/from DJI in GPSSettings is effectively a baud rate change because DJI is forced to be 115200
if (((gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_DJI) && (previous_data_protocol != GPSSETTINGS_DATAPROTOCOL_DJI)) ||
((gpsSettings.DataProtocol != GPSSETTINGS_DATAPROTOCOL_DJI) && (previous_data_protocol == GPSSETTINGS_DATAPROTOCOL_DJI))) {
// knows to force 115200 for DJI
gps_set_fc_baud_from_settings();
}
#endif
// it's OK that ubx auto config is inited and ready to go, when GPS is disabled or running another protocol
@ -791,12 +793,6 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
gps_ubx_autoconfig_set(&newconfig);
}
#endif
#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_DJI) {
// clear out satellite data because DJI doesn't provide it
GPSSatellitesSetDefaults(GPSSatellitesHandle(), 0);
}
#endif
}
#endif /* defined(ANY_FULL_GPS_PARSER) */
/**