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Code Issues Releases Activity

OP-1601 Don't use new PVT messages with CC/CC3D

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This commit is contained in:
Laurent Lalanne 2014-11-15 22:39:17 +01:00
parent 9e0ede3386
commit 8d08223e8a
2 changed files with 5 additions and 7 deletions
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10
flight/modules/GPS/UBX.c
View File

@ -58,12 +58,12 @@ typedef struct {
// parsing functions, roughly ordered by reception rate (higher rate messages on top)
static void parse_ubx_nav_pvt(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_nav_posllh(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_nav_velned(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_nav_sol(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_nav_dop(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
#ifndef PIOS_GPS_MINIMAL
static void parse_ubx_nav_pvt(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_nav_timeutc(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_nav_svinfo(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
@ -81,8 +81,8 @@ const ubx_message_handler ubx_handler_table[] = {
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELNED, .handler = &parse_ubx_nav_velned },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SOL, .handler = &parse_ubx_nav_sol },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_DOP, .handler = &parse_ubx_nav_dop },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_PVT, .handler = &parse_ubx_nav_pvt },
#ifndef PIOS_GPS_MINIMAL
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_PVT, .handler = &parse_ubx_nav_pvt },
{ .msgClass = UBX_CLASS_OP_CUST, .msgID = UBX_ID_OP_MAG, .handler = &parse_ubx_op_mag },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .handler = &parse_ubx_nav_svinfo },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_TIMEUTC, .handler = &parse_ubx_nav_timeutc },
@ -336,7 +336,7 @@ static void parse_ubx_nav_velned(struct UBXPacket *ubx, GPSPositionSensorData *G
}
}
}
#if !defined(PIOS_GPS_MINIMAL)
static void parse_ubx_nav_pvt(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition)
{
lastPvtTime = PIOS_DELAY_GetuS();
@ -364,7 +364,7 @@ static void parse_ubx_nav_pvt(struct UBXPacket *ubx, GPSPositionSensorData *GpsP
} else {
GpsPosition->Status = GPSPOSITIONSENSOR_STATUS_NOFIX;
}
#if !defined(PIOS_GPS_MINIMAL)
if (pvt->valid & PVT_VALID_VALIDTIME) {
// Time is valid, set GpsTime
GPSTimeData GpsTime;
@ -378,10 +378,8 @@ static void parse_ubx_nav_pvt(struct UBXPacket *ubx, GPSPositionSensorData *GpsP
GPSTimeSet(&GpsTime);
}
#endif
}
#if !defined(PIOS_GPS_MINIMAL)
static void parse_ubx_nav_timeutc(struct UBXPacket *ubx, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
{
if (usePvt) {

2
flight/modules/GPS/inc/UBX.h
View File

@ -369,8 +369,8 @@ typedef union {
struct UBX_NAV_DOP nav_dop;
struct UBX_NAV_SOL nav_sol;
struct UBX_NAV_VELNED nav_velned;
struct UBX_NAV_PVT nav_pvt;
#if !defined(PIOS_GPS_MINIMAL)
struct UBX_NAV_PVT nav_pvt;
struct UBX_NAV_TIMEUTC nav_timeutc;
struct UBX_NAV_SVINFO nav_svinfo;
// Ack Class