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GPS: Remove satellites in view data; GPS baud rate defaulted to 38400; Added MSP_GPSSTATISTICS message to report GPS performance data (accuracy, rate, error count)

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-02-14 20:52:33 +10:00
parent ddc75033ef
commit 68073458c4
7 changed files with 20 additions and 110 deletions
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21
src/main/io/serial_msp.c
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@ -322,6 +322,7 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_STATUS_EX 150 //out message cycletime, errors_count, CPU load, sensor present etc
#define MSP_UID 160 //out message Unique device ID
#define MSP_GPSSVINFO 164 //out message get Signal Strength (only U-Blox)
#define MSP_GPSSTATISTICS 166 //out message get GPS debugging data
#define MSP_ACC_TRIM 240 //out message get acc angle trim values
#define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values
#define MSP_SERVO_MIX_RULES 241 //out message Returns servo mixer configuration
@ -1150,14 +1151,18 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
#endif
case MSP_GPSSVINFO:
headSerialReply(1 + (gpsSol.numCh * 4));
serialize8(gpsSol.numCh);
for (i = 0; i < gpsSol.numCh; i++){
serialize8(gpsSol.svInfo[i].chn);
serialize8(gpsSol.svInfo[i].svid);
serialize8(gpsSol.svInfo[i].quality);
serialize8(gpsSol.svInfo[i].cno);
}
/* Compatibility stub - return zero SVs */
headSerialReply(1 + (0 * 4));
serialize8(0);
break;
case MSP_GPSSTATISTICS:
headSerialReply(1);
serialize16(gpsStats.lastMessageDt);
serialize32(gpsStats.errors);
serialize32(gpsStats.timeouts);
serialize32(gpsStats.packetCount);
serialize16(gpsSol.eph);
serialize16(gpsSol.epv);
break;
#endif
case MSP_DEBUG: