rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-26 15:54:15 +01:00
Code Issues Releases Activity

LP-457 Enable sentences, even for low baudrates where rate is forced to 1Hz. Increase retries for 2400bds

Browse Source
This commit is contained in:
Laurent Lalanne 2019-05-25 19:00:05 +02:00
parent 7268af2d8c
commit e4f8352cee
2 changed files with 30 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

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

@ -57,7 +57,7 @@
// timeout for a settings save, in case it has to erase flash?
#define UBX_SAVE_WAIT_TIME (1000 * 1000)
// max retries in case of timeout
#define UBX_MAX_RETRIES 5
#define UBX_MAX_RETRIES 10
// max time for ubx parser to respond to MON_VER
#define UBX_PARSER_TIMEOUT (950 * 1000)
// pause between each unverifiable (no ack/nak) configuration step

63
flight/modules/GPS/ubx_autoconfig.c
View File

@ -288,11 +288,12 @@ static void config_gps_baud(uint16_t *bytes_to_send)
}
static void config_rate(uint16_t *bytes_to_send)
static void config_rate(uint16_t *bytes_to_send, bool min_rate)
{
memset((uint8_t *)status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_rate_t));
// if rate is less than 1 uses the highest rate for current hardware
uint16_t rate = status->currentSettings.navRate > 0 ? status->currentSettings.navRate : 99;
// force rate to 1Hz if min_rate = true
uint16_t rate = (min_rate) ? 1 : (status->currentSettings.navRate > 0) ? status->currentSettings.navRate : 99;
if (ubxHwVersion < UBX_HW_VERSION_7 && rate > UBX_MAX_RATE) {
rate = UBX_MAX_RATE;
} else if (ubxHwVersion < UBX_HW_VERSION_8 && rate > UBX_MAX_RATE_VER7) {
@ -436,10 +437,13 @@ static void config_save(uint16_t *bytes_to_send)
static void configure(uint16_t *bytes_to_send)
{
// for low baudrates, force rate to 1Hz
// and apply UbxRate from GPS settings for higher baudrates
bool min_rate = (new_gps_speed <= HWSETTINGS_GPSSPEED_9600) ? true : false;
switch (status->lastConfigSent) {
case LAST_CONFIG_SENT_START:
// increase message rates to 5 fixes per second
config_rate(bytes_to_send);
config_rate(bytes_to_send, min_rate);
break;
case LAST_CONFIG_SENT_START + 1:
@ -534,8 +538,6 @@ static void setGpsSettings()
#endif /* if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE) */
// 9600 baud and lower are not usable, and are best left at factory default
// if the user selects 9600
void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
{
*bytes_to_send = 0;
@ -560,7 +562,6 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
// implying a 1 second send buffer and that it could be over 1 second before a reply is received
// later uBlox versions dropped this 1 second constraint and drop data when the send buffer is full
// and that could be even longer than 1 second
// send this more quickly and it will get a reply more quickly if a fixed percentage of replies are being dropped
// wait for the normal reply timeout before sending it over and over
if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_PARSER_TIMEOUT) {
@ -682,8 +683,6 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
// GPS was just reset, so GPS is running 9600 baud, and Revo is running whatever baud it was before
case INIT_STEP_REVO_9600_BAUD:
#if !defined(ALWAYS_RESET)
// if user requests a low baud rate then we just reset and leave it set to NMEA
// because low baud and high OP data rate doesn't play nice
// 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
@ -744,39 +743,35 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
status->lastConfigSent = LAST_CONFIG_SENT_START;
// zero the retries for the first "enable sentence"
status->retryCount = 0;
// skip enabling UBX sentences for low baud rates
// low baud rates are not usable, and higher data rates just makes it harder for this code to change the configuration
if (hwsettings_baud <= HWSETTINGS_GPSSPEED_9600) {
set_current_step_if_untouched(INIT_STEP_SAVE);
} else {
set_current_step_if_untouched(INIT_STEP_ENABLE_SENTENCES);
}
// enable UBX sentences
set_current_step_if_untouched(INIT_STEP_ENABLE_SENTENCES);
// allow it enter the next state immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
break;
case INIT_STEP_ENABLE_SENTENCES:
{
enable_sentences(bytes_to_send);
if (status->lastConfigSent == LAST_CONFIG_SENT_COMPLETED) {
// finished enabling sentences, now configure() needs to start at the beginning
status->lastConfigSent = LAST_CONFIG_SENT_START;
// zero the retries for the first "configure"
status->retryCount = 0;
set_current_step_if_untouched(INIT_STEP_CONFIGURE);
} else {
set_current_step_if_untouched(INIT_STEP_ENABLE_SENTENCES_WAIT_ACK);
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
}
break;
}
case INIT_STEP_CONFIGURE:
{
bool step_configure = (status->currentStep == INIT_STEP_CONFIGURE);
if (step_configure) {
configure(bytes_to_send);
} else {
enable_sentences(bytes_to_send);
}
// for some branches, allow it enter the next state immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
configure(bytes_to_send);
if (status->lastConfigSent == LAST_CONFIG_SENT_COMPLETED) {
if (step_configure) {
// zero retries for the next state that needs it (INIT_STEP_SAVE)
status->retryCount = 0;
set_current_step_if_untouched(INIT_STEP_SAVE);
} else {
// finished enabling sentences, now configure() needs to start at the beginning
status->lastConfigSent = LAST_CONFIG_SENT_START;
set_current_step_if_untouched(INIT_STEP_CONFIGURE);
}
status->retryCount = 0;
set_current_step_if_untouched(INIT_STEP_SAVE);
} else {
set_current_step_if_untouched(step_configure ? INIT_STEP_CONFIGURE_WAIT_ACK : INIT_STEP_ENABLE_SENTENCES_WAIT_ACK);
set_current_step_if_untouched(INIT_STEP_CONFIGURE_WAIT_ACK);
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
}
break;