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Code Issues Wiki Activity

Ublox mode selectable with an option

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This commit is contained in:
Tony Cabello 2020-01-19 08:36:45 +01:00
parent a2aeb0cef4
commit c19dc26055
4 changed files with 38 additions and 6 deletions
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28
src/main/io/gps.c
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@ -232,6 +232,7 @@ PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
.autoConfig = GPS_AUTOCONFIG_ON,
.autoBaud = GPS_AUTOBAUD_OFF,
.gps_ublox_use_galileo = false,
.gps_ublox_mode = UBLOX_AIRBORNE,
.gps_set_home_point_once = false,
.gps_use_3d_speed = false
);
@ -418,11 +419,11 @@ void gpsInitUblox(void)
if (gpsData.messageState == GPS_MESSAGE_STATE_INIT) {
if (gpsData.state_position < sizeof(ubloxInit)) {
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
if (gpsConfig()->gps_ublox_mode == UBLOX_AIRBORNE) {
serialWrite(gpsPort, ubloxAirborne[gpsData.state_position]);
} else {
serialWrite(gpsPort, ubloxInit[gpsData.state_position]);
}
} else {
serialWrite(gpsPort, ubloxInit[gpsData.state_position]);
}
@ -456,7 +457,7 @@ void gpsInitUblox(void)
}
}
if (gpsData.messageState >= GPS_MESSAGE_STATE_ENTRY_COUNT) {
if (gpsData.messageState >= GPS_MESSAGE_STATE_INITIALIZED) {
// ublox should be initialised, try receiving
gpsSetState(GPS_RECEIVING_DATA);
}
@ -537,6 +538,21 @@ void gpsUpdate(timeUs_t currentTimeUs)
// remove GPS from capability
sensorsClear(SENSOR_GPS);
gpsSetState(GPS_LOST_COMMUNICATION);
} else {
if ((gpsData.messageState == GPS_MESSAGE_STATE_INITIALIZED) && STATE(GPS_FIX) && (gpsConfig()->gps_ublox_mode == UBLOX_AUTO)) {
gpsData.messageState = GPS_MESSAGE_STATE_PEDESTRIAN_TO_AIRBORNE;
gpsData.state_position = 0;
}
if (gpsData.messageState == GPS_MESSAGE_STATE_PEDESTRIAN_TO_AIRBORNE) {
if (gpsData.state_position < sizeof(ubloxAirborne)) {
if (isSerialTransmitBufferEmpty(gpsPort)) {
serialWrite(gpsPort, ubloxAirborne[gpsData.state_position]);
gpsData.state_position++;
}
} else {
gpsData.messageState = GPS_MESSAGE_STATE_ENTRY_COUNT;
}
}
}
break;
}