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Merge pull request #3993 from iNavFlight/de_gps_autoconfig_fix

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Fix always-on GPS autoconfig
This commit is contained in:
Konstantin Sharlaimov 2018-11-07 19:43:34 +01:00 • committed by GitHub
commit d9fa9097c7
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2 changed files with 43 additions and 38 deletions
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54
src/main/io/gps_nmea.c
View file

@ -329,38 +329,40 @@ STATIC_PROTOTHREAD(gpsProtocolStateThreadMTK)
}
// Send configuration commands
// Disable all messages except GGA and RMC
serialPrint(gpsState.gpsPort, "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
// Set Nav Threshold (the minimum speed the GPS must be moving to update the position) to 0 m/s
serialPrint(gpsState.gpsPort, "$PMTK397,0*23\r\n");
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
// SBAS/WAAS
if (gpsState.gpsConfig->sbasMode != SBAS_NONE) {
serialPrint(gpsState.gpsPort, "$PMTK313,1*2E\r\n"); // SBAS ON
if (gpsState.gpsConfig->autoConfig) {
// Disable all messages except GGA and RMC
serialPrint(gpsState.gpsPort, "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
serialPrint(gpsState.gpsPort, "$PMTK301,2*2E\r\n"); // WAAS ON
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
}
else {
serialPrint(gpsState.gpsPort, "$PMTK313,0*2F\r\n"); // SBAS OFF
// Set Nav Threshold (the minimum speed the GPS must be moving to update the position) to 0 m/s
serialPrint(gpsState.gpsPort, "$PMTK397,0*23\r\n");
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
serialPrint(gpsState.gpsPort, "$PMTK301,0*2C\r\n"); // WAAS OFF
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
// SBAS/WAAS
if (gpsState.gpsConfig->sbasMode != SBAS_NONE) {
serialPrint(gpsState.gpsPort, "$PMTK313,1*2E\r\n"); // SBAS ON
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
serialPrint(gpsState.gpsPort, "$PMTK301,2*2E\r\n"); // WAAS ON
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
}
else {
serialPrint(gpsState.gpsPort, "$PMTK313,0*2F\r\n"); // SBAS OFF
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
serialPrint(gpsState.gpsPort, "$PMTK301,0*2C\r\n"); // WAAS OFF
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
}
// 5Hz update, should works for most modules
serialPrint(gpsState.gpsPort, "$PMTK220,200*2C\r\n");
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
// Try set 10Hz update rate. Module will ignore it if can't support
serialPrint(gpsState.gpsPort, "$PMTK220,100*2F\r\n");
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
}
// 5Hz update, should works for most modules
serialPrint(gpsState.gpsPort, "$PMTK220,200*2C\r\n");
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
// Try set 10Hz update rate. Module will ignore it if can't support
serialPrint(gpsState.gpsPort, "$PMTK220,100*2F\r\n");
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
// Reset protocol timeout
gpsSetProtocolTimeout(GPS_TIMEOUT);

27
src/main/io/gps_ublox.c
View file

@ -865,21 +865,24 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
serialSetBaudRate(gpsState.gpsPort, baudRates[gpsToSerialBaudRate[gpsState.baudrateIndex]]);
}
// Reset protocol timeout
gpsSetProtocolTimeout(MIN(GPS_TIMEOUT, ((GPS_VERSION_RETRY_TIMES + 1) * GPS_VERSION_DETECTION_TIMEOUT_MS)));
// Configure GPS module if enabled
if (gpsState.gpsConfig->autoConfig) {
// Reset protocol timeout
gpsSetProtocolTimeout(MIN(GPS_TIMEOUT, ((GPS_VERSION_RETRY_TIMES + 1) * GPS_VERSION_DETECTION_TIMEOUT_MS)));
// Attempt to detect GPS hw version
gpsState.hwVersion = 0;
gpsState.autoConfigStep = 0;
// Attempt to detect GPS hw version
gpsState.hwVersion = 0;
gpsState.autoConfigStep = 0;
do {
pollVersion();
gpsState.autoConfigStep++;
ptWaitTimeout((gpsState.hwVersion != 0), GPS_VERSION_DETECTION_TIMEOUT_MS);
} while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == 0);
do {
pollVersion();
gpsState.autoConfigStep++;
ptWaitTimeout((gpsState.hwVersion != 0), GPS_VERSION_DETECTION_TIMEOUT_MS);
} while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == 0);
// Configure GPS
ptSpawn(gpsConfigure);
// Configure GPS
ptSpawn(gpsConfigure);
}
// GPS setup done, reset timeout
gpsSetProtocolTimeout(GPS_TIMEOUT);