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Revert "BugFix: time to first fix was sometimes abnormally high due to improper configuration of Ublox GPS"

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This reverts commit 751e1ae444.
This commit is contained in:
Tony Cabello 2019-12-23 12:08:16 +01:00
parent c9674fd488
commit c08acd3eb4
2 changed files with 10 additions and 20 deletions
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28
src/main/io/gps.c
View file

@ -416,9 +416,16 @@ void gpsInitUblox(void)
}
if (gpsData.messageState == GPS_MESSAGE_STATE_INIT) {
if (gpsData.state_position < sizeof(ubloxInit)) {
serialWrite(gpsPort, ubloxInit[gpsData.state_position]);
if (gpsData.state_position < sizeof(ubloxAirborne)) {
#if defined(GPS_UBLOX_MODE_PEDESTRIAN)
serialWrite(gpsPort, ubloxInit[gpsData.state_position]);
#else
serialWrite(gpsPort, ubloxAirborne[gpsData.state_position]);
#endif
} else {
serialWrite(gpsPort, ubloxInit[gpsData.state_position]);
}
gpsData.state_position++;
} else {
gpsData.state_position = 0;
@ -449,7 +456,7 @@ void gpsInitUblox(void)
}
}
if (gpsData.messageState >= GPS_MESSAGE_STATE_INITIALIZED) {
if (gpsData.messageState >= GPS_MESSAGE_STATE_ENTRY_COUNT) {
// ublox should be initialised, try receiving
gpsSetState(GPS_RECEIVING_DATA);
}
@ -530,21 +537,6 @@ void gpsUpdate(timeUs_t currentTimeUs)
// remove GPS from capability
sensorsClear(SENSOR_GPS);
gpsSetState(GPS_LOST_COMMUNICATION);
#if !defined(GPS_UBLOX_MODE_PEDESTRIAN)
} else {
if ((gpsData.messageState == GPS_MESSAGE_STATE_IDLE) && STATE(GPS_FIX)) {
gpsData.messageState = GPS_MESSAGE_STATE_AIRBORNE;
gpsData.state_position = 0;
}
if (gpsData.messageState == GPS_MESSAGE_STATE_AIRBORNE) {
if (gpsData.state_position < sizeof(ubloxAirborne)) {
serialWrite(gpsPort, ubloxAirborne[gpsData.state_position]);
gpsData.state_position++;
} else {
gpsData.messageState = GPS_MESSAGE_STATE_ENTRY_COUNT;
}
}
#endif
}
break;
}

2
src/main/io/gps.h
View file

@ -106,8 +106,6 @@ typedef enum {
GPS_MESSAGE_STATE_INIT,
GPS_MESSAGE_STATE_SBAS,
GPS_MESSAGE_STATE_GALILEO,
GPS_MESSAGE_STATE_INITIALIZED,
GPS_MESSAGE_STATE_AIRBORNE,
GPS_MESSAGE_STATE_ENTRY_COUNT
} gpsMessageState_e;