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Beginning of the great GPS unfucking.

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* Proper initialization sequence framework for various supported GPS types. NMEA will now auto-detect its baud rate based on received frames.
* As a result of the above, gps_baudrate has been changed to enum, to only allow fixed rates. (GPS baudrate, -1: autodetect (NMEA only), 0: 115200, 1: 57600, 2: 38400, 3: 19200, 4: 9600)
* UBX binary initialization at any specified baudrate with auto-reconnect on signal loss.
* GPS thread to handle initialization, signal loss and configuration. No longer does GPS need to be powered before FC, and on GPS reconnect, it will be re-initialized if needed.
MTK NMEA/binary initialization is omitted for now, as I can't find my MTK GPS
GPS deltaTime can be calculated to display update rate.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@438 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-10-13 15:25:45 +00:00
parent 04560808e7
commit 30ded7ff04
8 changed files with 209 additions and 126 deletions
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4
src/cli.c
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@ -117,7 +117,8 @@ const clivalue_t valueTable[] = {
{ "serial_baudrate", VAR_UINT32, &mcfg.serial_baudrate, 1200, 115200 },
{ "softserial_baudrate", VAR_UINT32, &mcfg.softserial_baudrate, 9600, 19200 },
{ "softserial_inverted", VAR_UINT8, &mcfg.softserial_inverted, 0, 1 },
{ "gps_baudrate", VAR_UINT32, &mcfg.gps_baudrate, 1200, 115200 },
{ "gps_type", VAR_UINT8, &mcfg.gps_type, 0, 3 },
{ "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, -1, 4 },
{ "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 2 },
{ "vbatscale", VAR_UINT8, &mcfg.vbatscale, 10, 200 },
{ "vbatmaxcellvoltage", VAR_UINT8, &mcfg.vbatmaxcellvoltage, 10, 50 },
@ -132,7 +133,6 @@ const clivalue_t valueTable[] = {
{ "gyro_lpf", VAR_UINT16, &mcfg.gyro_lpf, 0, 256 },
{ "gyro_cmpf_factor", VAR_UINT16, &mcfg.gyro_cmpf_factor, 100, 1000 },
{ "gyro_cmpfm_factor", VAR_UINT16, &mcfg.gyro_cmpfm_factor, 100, 1000 },
{ "gps_type", VAR_UINT8, &mcfg.gps_type, 0, 3 },
{ "pid_controller", VAR_UINT8, &cfg.pidController, 0, 1 },
{ "deadband", VAR_UINT8, &cfg.deadband, 0, 32 },
{ "yawdeadband", VAR_UINT8, &cfg.yawdeadband, 0, 100 },