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Code Issues Releases Activity

OP-1370 - Show AutoConfig status in GPSPositionSensor

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This commit is contained in:
Alessio Morale 2014-08-22 22:32:57 +02:00
parent 69b76b665c
commit c4d5234ee6
4 changed files with 40 additions and 7 deletions
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11
flight/modules/GPS/GPS.c
View File

@ -257,8 +257,15 @@ static void gpsTask(__attribute__((unused)) void *parameters)
break;
#endif
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
case GPSSETTINGS_DATAPROTOCOL_UBX:
res = parse_ubx_stream(c, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
case GPSSETTINGS_DATAPROTOCOL_UBX:{
int32_t ac_status = ubx_autoconfig_get_status();
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;
res = parse_ubx_stream(c, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
}
break;
#endif
default:

9
flight/modules/GPS/inc/ubx_autoconfig.h
View File

@ -39,6 +39,13 @@
#define UBX_REPLY_TIMEOUT (500 * 1000)
#define UBX_MAX_RETRIES 5
// types
typedef enum {
UBX_AUTOCONFIG_STATUS_DISABLED = 0,
UBX_AUTOCONFIG_STATUS_RUNNING,
UBX_AUTOCONFIG_STATUS_DONE,
UBX_AUTOCONFIG_STATUS_ERROR
} ubx_autoconfig_status_t;
// Enumeration options for field UBXDynamicModel
typedef enum {
UBX_DYNMODEL_PORTABLE = 0,
@ -114,5 +121,5 @@ typedef union {
void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send);
void ubx_autoconfig_set(ubx_autoconfig_settings_t config);
int32_t ubx_autoconfig_get_status();
#endif /* UBX_AUTOCONFIG_H_ */

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

@ -51,7 +51,7 @@ typedef struct {
int8_t lastConfigSent; // index of last configuration string sent
struct UBX_ACK_ACK requiredAck; // Class and id of the message we are waiting for an ACK from GPS
uint8_t retryCount;
} ubx_autoconfig_status_t;
} status_t;
ubx_cfg_msg_t msg_config_ubx6[] = {
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSLLH, .rate = 1 },
@ -82,7 +82,7 @@ ubx_cfg_msg_t msg_config_ubx7[] = {
// enable the autoconfiguration system
static bool enabled;
static ubx_autoconfig_status_t *status = 0;
static status_t *status = 0;
static void append_checksum(UBXSentPacket_t *packet)
{
@ -278,8 +278,8 @@ void ubx_autoconfig_set(ubx_autoconfig_settings_t config)
enabled = false;
if (config.autoconfigEnabled) {
if (!status) {
status = (ubx_autoconfig_status_t *)pios_malloc(sizeof(ubx_autoconfig_status_t));
memset(status, 0, sizeof(ubx_autoconfig_status_t));
status = (status_t *)pios_malloc(sizeof(status_t));
memset(status, 0, sizeof(status_t));
status->currentStep = INIT_STEP_DISABLED;
}
status->currentSettings = config;
@ -287,3 +287,21 @@ void ubx_autoconfig_set(ubx_autoconfig_settings_t config)
enabled = true;
}
}
int32_t ubx_autoconfig_get_status(){
if(!status){
return UBX_AUTOCONFIG_STATUS_DISABLED;
}
switch (status->currentStep) {
case INIT_STEP_ERROR:
return UBX_AUTOCONFIG_STATUS_ERROR;
case INIT_STEP_DISABLED:
return UBX_AUTOCONFIG_STATUS_DISABLED;
case INIT_STEP_DONE:
return UBX_AUTOCONFIG_STATUS_DONE;
default:
break;
}
return UBX_AUTOCONFIG_STATUS_RUNNING;
}

1
shared/uavobjectdefinition/gpspositionsensor.xml
View File

@ -13,6 +13,7 @@
<field name="HDOP" units="" type="float" elements="1"/>
<field name="VDOP" units="" type="float" elements="1"/>
<field name="SensorType" units="" type="enum" elements="1" options="Unknown,NMEA,UBX,UBX7,UBX8" defaultvalue="Unknown" />
<field name="AutoConfigStatus" units="" type="enum" elements="1" options="DISABLED,RUNNING,DONE,ERROR" defaultvalue="DISABLED" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>