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Code Issues Releases Activity

OP-1464 Rename things as requested Implement autodisable as advised by Alessio

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This commit is contained in:
Cliff Geerdes 2015-05-21 04:37:44 -04:00
parent 55a43d1815
commit ced0d4725b
7 changed files with 51 additions and 25 deletions
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2
flight/modules/GPS/GPS.c
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@ -480,7 +480,7 @@ void gps_set_fc_baud_from_arg(uint8_t baud)
previous_baud = baud;
// Set Revo port hwsettings_baud
PIOS_COM_ChangeBaud(PIOS_COM_GPS, hwsettings_gpsspeed_enum_to_baud(baud));
GPSPositionSensorCurrentBaudRateSet(&baud);
GPSPositionSensorBaudRateSet(&baud);
}
}
--mutex;

4
flight/modules/GPS/NMEA.c
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@ -458,7 +458,7 @@ bool NMEA_update_position(char *nmea_sentence, GPSPositionSensorData *GpsData)
#endif
if (gpsDataUpdated && (GpsData->Status == GPSPOSITIONSENSOR_STATUS_NOFIX)) {
// leave my new field alone!
GPSPositionSensorCurrentBaudRateGet(&GpsData->CurrentBaudRate);
GPSPositionSensorBaudRateGet(&GpsData->BaudRate);
GPSPositionSensorSet(GpsData);
}
return false;
@ -471,7 +471,7 @@ bool NMEA_update_position(char *nmea_sentence, GPSPositionSensorData *GpsData)
DEBUG_MSG("U");
#endif
// leave my new field alone!
GPSPositionSensorCurrentBaudRateGet(&GpsData->CurrentBaudRate);
GPSPositionSensorBaudRateGet(&GpsData->BaudRate);
GPSPositionSensorSet(GpsData);
}

2
flight/modules/GPS/UBX.c
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@ -529,7 +529,7 @@ uint32_t parse_ubx_message(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosi
if (msgtracker.msg_received == ALL_RECEIVED) {
// leave my new field alone!
GPSPositionSensorCurrentBaudRateGet(&GpsPosition->CurrentBaudRate);
GPSPositionSensorBaudRateGet(&GpsPosition->BaudRate);
GPSPositionSensorSet(GpsPosition);
msgtracker.msg_received = NONE_RECEIVED;
id = GPSPOSITIONSENSOR_OBJID;

60
flight/modules/GPS/ubx_autoconfig.c
View File

@ -33,6 +33,7 @@
#include "inc/ubx_autoconfig.h"
#include <pios_mem.h>
#include "taskinfo.h"
// private type definitions
@ -156,7 +157,9 @@ ubx_cfg_msg_t msg_config_ubx7[] = {
// we can enable this when we know how to make the Flight Controller save an object to permanent storage
// also see comment about simple edit in gpssettings.xml
// #define AUTOBAUD_CONFIGURE_STORE_AND_DISABLE
#define AUTOBAUD_CONFIGURE_STORE_AND_DISABLE
// Alessio Morale May 20 3:16 AM
// @Cliff you should update the ObjectPersistence uavo passing the object id and the desired operation.
// private variables
@ -459,17 +462,40 @@ static void enable_sentences(__attribute__((unused)) uint16_t *bytes_to_send)
#if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE)
// permanently store our version of GPSSettings.UbxAutoConfig
// we use this to disable after AbConfigStoreAndDisable is complete
// FIXME: this does not store it permanently
// all that is needed is for the following to store it permanently like HomeLocation is stored by the flight code
// GPSSettingsUbxAutoConfigSet((GPSSettingsUbxAutoConfigOptions *) &status->currentSettings.UbxAutoConfig);
static void setGpsSettings()
{
// trying to do this as perfectly as possible we must realize that they may have pressed Send on some fields
// and so those fields are not stored permanently
// if we write the memory copy to flash, we will have made those permanent
// we could save off the uavo memory copy to a local buffer with a standard GPSSettingsGet()
// load from flash to uavo memory with a UAVObjLoad()
// update our one setting in uavo memory with a standard GPSSettingsUbxAutoConfigSet()
// save from uavo memory to flash with a UAVObjSave()
// modify our saved off copy to have our new setting in it too
// and finally copy the local buffer back out to uavo memory
// that would do it as correctly as possible, but it doesn't work
// so we do it the way autotune.c does it
#if 0
// get the "in memory" version to a local buffer
GPSSettingsGet((void *) &status->gpsSettings);
// load the permanent version into memory
UAVObjLoad(GPSSettingsHandle(), 0);
#endif
// change the in memory version of the field we want to change
GPSSettingsUbxAutoConfigSet((GPSSettingsUbxAutoConfigOptions *) &status->currentSettings.UbxAutoConfig);
// save the in memory version to permanent
UAVObjSave(GPSSettingsHandle(), 0);
#if 0
// copy the setting into the struct we will use to Set()
status->gpsSettings.UbxAutoConfig = status->currentSettings.UbxAutoConfig;
// try casting it correctly and it says:
// expected 'struct GPSSettingsData *' but argument is of type 'struct GPSSettingsData *'
// probably a volatile or align issue
GPSSettingsGet((void *) &status->gpsSettings);
status->gpsSettings.UbxAutoConfig = status->currentSettings.UbxAutoConfig;
GPSSettingsSet((void *) &status->gpsSettings);
GPSSettingsSet((void *) &status->gpsSettings); // set the "in memory" version back into use
#endif
}
#endif
@ -614,9 +640,9 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
// if user requests that settings be saved, we will reset here too
// that makes sure that all strange settings are reset to factory default
// else these strange settings may persist because we don't reset all settings by table
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_ABCONFIGANDSTORE
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGUREANDSTORE
#if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE)
|| status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_ABCONFIGSTOREANDDISABLE
|| status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGURESTOREANDDISABLE
#endif
)
#endif
@ -639,9 +665,9 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
// if user requests that settings be saved, we will reset here too
// that makes sure that all strange settings are reset to factory default
// else these strange settings may persist because we don't reset all settings by hand
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_ABCONFIGANDSTORE
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGUREANDSTORE
#if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE)
|| status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_ABCONFIGSTOREANDDISABLE
|| status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGURESTOREANDDISABLE
#endif
)
#endif
@ -768,9 +794,9 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
// all configurations have been made
case INIT_STEP_SAVE:
// now decide whether to save them permanently into the GPS
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_ABCONFIGANDSTORE
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGUREANDSTORE
#if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE)
|| status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_ABCONFIGSTOREANDDISABLE
|| status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGURESTOREANDDISABLE
#endif
) {
config_save(bytes_to_send);
@ -797,8 +823,8 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
// the autoconfig has completed normally
case INIT_STEP_PRE_DONE:
#if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE)
// determine if we need to disable autoconfig via the autoconfig==CONFIGSTOREANDDISABLE setting
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_ABCONFIGSTOREANDDISABLE) {
// determine if we need to disable autoconfig via the autoconfig==AUTOBAUDCONFIGSTOREANDDISABLE setting
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGURESTOREANDDISABLE) {
enabled = false;
status->currentSettings.UbxAutoConfig = GPSSETTINGS_UBXAUTOCONFIG_DISABLED;
// like it says
@ -841,7 +867,7 @@ void gps_ubx_autoconfig_set(ubx_autoconfig_settings_t *config)
if (config != NULL) {
status->currentSettings = *config;
}
if (status->currentSettings.UbxAutoConfig >= GPSSETTINGS_UBXAUTOCONFIG_ABANDCONFIGURE) {
if (status->currentSettings.UbxAutoConfig >= GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDANDCONFIGURE) {
new_step = INIT_STEP_START;
} else {
new_step = INIT_STEP_DISABLED;
@ -857,7 +883,7 @@ void gps_ubx_autoconfig_set(ubx_autoconfig_settings_t *config)
status->currentStep = new_step;
status->currentStepSave = new_step;
if (status->currentSettings.UbxAutoConfig >= GPSSETTINGS_UBXAUTOCONFIG_ABANDCONFIGURE) {
if (status->currentSettings.UbxAutoConfig >= GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDANDCONFIGURE) {
// enabled refers to autoconfigure
// note that sensor type (gps type) detection happens even if completely disabled
// also note that AutoBaud is less than Configure

4
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -184,12 +184,12 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
break;
case VehicleConfigurationSource::GPS_UBX:
gpsData.DataProtocol = GPSSettings::DATAPROTOCOL_UBX;
gpsData.UbxAutoConfig = GPSSettings::UBXAUTOCONFIG_ABANDCONFIGURE;
gpsData.UbxAutoConfig = GPSSettings::UBXAUTOCONFIG_AUTOBAUDANDCONFIGURE;
break;
case VehicleConfigurationSource::GPS_PLATINUM:
{
gpsData.DataProtocol = GPSSettings::DATAPROTOCOL_UBX;
gpsData.UbxAutoConfig = GPSSettings::UBXAUTOCONFIG_ABANDCONFIGURE;
gpsData.UbxAutoConfig = GPSSettings::UBXAUTOCONFIG_AUTOBAUDANDCONFIGURE;
AuxMagSettings *magSettings = AuxMagSettings::GetInstance(m_uavoManager);
Q_ASSERT(magSettings);
AuxMagSettings::DataFields magsData = magSettings->getData();

2
shared/uavobjectdefinition/gpspositionsensor.xml
View File

@ -14,7 +14,7 @@
<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" />
<field name="CurrentBaudRate" units="" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200,230400,Unknown" defaultvalue="Unknown" />
<field name="BaudRate" units="" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200,230400,Unknown" defaultvalue="Unknown" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>

2
shared/uavobjectdefinition/gpssettings.xml
View File

@ -7,7 +7,7 @@
<!-- Ubx self configuration. Enable to allow the flight board to auto configure ubx GPS options,
store does AutoConfig and save GPS settings (i.e. to prevent issues if gps is power cycled) -->
<!-- add AbConfigStoreAndDisable after AbConfigAndStore and uncomment AUTOBAUD_CONFIGURE_STORE_AND_DISABLE in ubx_autoconfig.c-->
<field name="UbxAutoConfig" units="" type="enum" elements="1" options="Disabled,AutoBaud,AbAndConfigure,AbConfigAndStore" defaultvalue="AbAndConfigure"/>
<field name="UbxAutoConfig" units="" type="enum" elements="1" options="Disabled,AutoBaud,AutoBaudAndConfigure,AutoBaudConfigureAndStore,AutoBaudConfigureStoreAndDisable" defaultvalue="AutoBaudAndConfigure"/>
<!-- Ubx position update rate, -1 for auto -->
<field name="UbxRate" units="Hz" type="int8" elements="1" defaultvalue="5" />
<!-- Ubx dynamic model, see UBX datasheet for more details -->