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Code Issues Releases Activity

OP-1499 - Failed Autoconfig will raise an Error Alarm. When AC does start it will reset any previous ack. Force update to Autoconfig Status in GPSPositionSensor UAVO. Add a small pause between each config step

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This commit is contained in:
Alessio Morale 2014-09-24 06:12:48 +02:00
parent 0885fda926
commit 78756f6873
3 changed files with 17 additions and 3 deletions
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9
flight/modules/GPS/GPS.c
View File

@ -268,11 +268,17 @@ static void gpsTask(__attribute__((unused)) void *parameters)
{
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
int32_t ac_status = ubx_autoconfig_get_status();
static uint8_t lastStatus = 0;
gpspositionsensor.AutoConfigStatus =
ac_status == UBX_AUTOCONFIG_STATUS_DISABLED ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED :
ac_status == UBX_AUTOCONFIG_STATUS_DONE ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DONE :
ac_status == UBX_AUTOCONFIG_STATUS_ERROR ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR :
GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_RUNNING;
if (gpspositionsensor.AutoConfigStatus != lastStatus) {
GPSPositionSensorAutoConfigStatusSet(&gpspositionsensor.AutoConfigStatus);
lastStatus = gpspositionsensor.AutoConfigStatus;
}
#endif
res = parse_ubx_stream(c, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
}
@ -292,7 +298,8 @@ static void gpsTask(__attribute__((unused)) void *parameters)
// Check for GPS timeout
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
if ((timeNowMs - timeOfLastUpdateMs) >= GPS_TIMEOUT_MS) {
if ((timeNowMs - timeOfLastUpdateMs) >= GPS_TIMEOUT_MS ||
(gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_UBX && gpspositionsensor.AutoConfigStatus == GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR)) {
// we have not received any valid GPS sentences for a while.
// either the GPS is not plugged in or a hardware problem or the GPS has locked up.
uint8_t status = GPSPOSITIONSENSOR_STATUS_NOGPS;

3
flight/modules/GPS/inc/ubx_autoconfig.h
View File

@ -45,7 +45,8 @@
#define UBX_REPLY_TIMEOUT (500 * 1000)
// max retries in case of timeout
#define UBX_MAX_RETRIES 5
// pause between each configuration step
#define UBX_STEP_WAIT_TIME (10 * 1000)
// types
typedef enum {
UBX_AUTOCONFIG_STATUS_DISABLED = 0,

8
flight/modules/GPS/ubx_autoconfig.c
View File

@ -287,7 +287,9 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send, bool gps_connec
if (!status || !enabled || status->currentStep == INIT_STEP_DISABLED) {
return; // autoconfig not enabled
}
if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_STEP_WAIT_TIME) {
return;
}
// when gps is disconnected it will replay the autoconfig sequence.
if (!gps_connected) {
if (status->currentStep == INIT_STEP_DONE) {
@ -318,6 +320,10 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send, bool gps_connec
case INIT_STEP_START:
case INIT_STEP_ASK_VER:
// clear ack
ubxLastAck.clsID = 0x00;
ubxLastAck.msgID = 0x00;
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
build_request(&status->working_packet, UBX_CLASS_MON, UBX_ID_MON_VER, bytes_to_send);
status->currentStep = INIT_STEP_WAIT_VER;