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Code Issues Releases Activity

OP-1739 Always clear ubxLastAck & ubxLastNak when sending UBX message

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This commit is contained in:
Erik Gustavsson 2015-03-04 19:38:40 +01:00
parent b63cbebc40
commit ae24359fb4
2 changed files with 6 additions and 8 deletions
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6
flight/modules/GPS/GPS.c
View File

@ -275,6 +275,12 @@ static void gpsTask(__attribute__((unused)) void *parameters)
ubx_autoconfig_run(&buffer, &count, status != GPSPOSITIONSENSOR_STATUS_NOGPS);
// Something to send?
if (count) {
// clear ack/nak
ubxLastAck.clsID = 0x00;
ubxLastAck.msgID = 0x00;
ubxLastNak.clsID = 0x00;
ubxLastNak.msgID = 0x00;
PIOS_COM_SendBuffer(gpsPort, (uint8_t *)buffer, count);
}
}

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

@ -381,10 +381,6 @@ 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;
@ -427,10 +423,6 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send, bool gps_connec
{
bool step_configure = (status->currentStep == INIT_STEP_CONFIGURE_WAIT_ACK);
if (ubxLastAck.clsID == status->requiredAck.clsID && ubxLastAck.msgID == status->requiredAck.msgID) {
// clear ack
ubxLastAck.clsID = 0x00;
ubxLastAck.msgID = 0x00;
// Continue with next configuration option
status->retryCount = 0;
status->lastConfigSent++;