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Code Issues Releases Activity

LP-457 Disable svinfo with low baudrates, reset GPSSat uavo

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This commit is contained in:
Laurent Lalanne 2019-05-26 03:01:18 +02:00
parent 9f723dd2ba
commit 1aced28613
1 changed files with 14 additions and 3 deletions
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17
flight/modules/GPS/ubx_autoconfig.c
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@ -145,6 +145,10 @@ ubx_cfg_msg_t msg_config_ubx7[] = {
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .rate = 10 },
};
ubx_cfg_msg_t msg_config_ubx_disable_svinfo[] = {
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .rate = 0 },
};
// private defines
#define LAST_CONFIG_SENT_START (-1)
@ -480,7 +484,7 @@ static void configure(uint16_t *bytes_to_send)
}
static void enable_sentences(__attribute__((unused)) uint16_t *bytes_to_send)
static void enable_sentences(__attribute__((unused)) uint16_t *bytes_to_send, bool disable_svinfo)
{
int8_t msg = status->lastConfigSent + 1;
uint8_t msg_count = (ubxHwVersion >= UBX_HW_VERSION_7) ?
@ -489,11 +493,16 @@ static void enable_sentences(__attribute__((unused)) uint16_t *bytes_to_send)
&msg_config_ubx7[0] : &msg_config_ubx6[0];
if (msg >= 0 && msg < msg_count) {
status->working_packet.message.payload.cfg_msg = msg_config[msg];
status->working_packet.message.payload.cfg_msg = (msg == (msg_count - 1) && disable_svinfo) ? msg_config_ubx_disable_svinfo[0] : msg_config[msg];
*bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_MSG, sizeof(ubx_cfg_msg_t));
} else {
status->lastConfigSent = LAST_CONFIG_SENT_COMPLETED;
}
// Reset GPSSatellites UAVO
if (disable_svinfo && (status->lastConfigSent == LAST_CONFIG_SENT_COMPLETED) && (GPSSatellitesHandle() != NULL)) {
GPSSatellitesSetDefaults(GPSSatellitesHandle(), 0);
}
}
@ -750,7 +759,9 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
case INIT_STEP_ENABLE_SENTENCES:
{
enable_sentences(bytes_to_send);
// for low baudrates, disable SVINFO
bool disable_svinfo = (new_gps_speed <= HWSETTINGS_GPSSPEED_9600) ? true : false;
enable_sentences(bytes_to_send, disable_svinfo);
if (status->lastConfigSent == LAST_CONFIG_SENT_COMPLETED) {
// finished enabling sentences, now configure() needs to start at the beginning
status->lastConfigSent = LAST_CONFIG_SENT_START;