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gps passthrough cli command

This commit is contained in:
Kemal Hadimli 2013-10-29 19:35:13 +02:00
parent 77d455f82b
commit c4dd556f3d
3 changed files with 38 additions and 0 deletions

View file

@ -521,6 +521,32 @@ void gpsSetPIDs(void)
navPID_PARAM.Imax = POSHOLD_RATE_IMAX * 100;
}
int8_t gpsSetPassthrough(void)
{
if (gpsData.state != GPS_RECEIVINGDATA)
return -1;
// get rid of callback
core.gpsport->callback = NULL;
LED0_OFF;
LED1_OFF;
while(1) {
if (serialTotalBytesWaiting(core.gpsport)) {
LED0_ON;
serialWrite(core.mainport, serialRead(core.gpsport));
LED0_OFF;
}
if (serialTotalBytesWaiting(core.mainport)) {
LED1_ON;
serialWrite(core.gpsport, serialRead(core.mainport));
LED1_OFF;
}
}
}
// OK here is the onboard GPS code
////////////////////////////////////////////////////////////////////////////////////