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AP_ExternalAHRS: VectorNav: Disable ASCII messages on both ports, rather than just active port

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This change prevents a commonly seen baudrate overflow error on the unused port.
Also pause asynchronous communications during initial configuration.
This commit is contained in:
BLash 2024-07-05 11:40:51 -05:00 committed by Andrew Tridgell
parent d5ff3ed35a
commit 024d50ed09
1 changed files with 12 additions and 1 deletions
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13
libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
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@ -404,7 +404,15 @@ void AP_ExternalAHRS_VectorNav::initialize() {
// Open port in the thread
uart->begin(baudrate, 1024, 512);
hal.util->snprintf(message_to_send, sizeof(message_to_send), "VNWRG,06,0");
// Pause asynchronous communications to simplify packet finding
hal.util->snprintf(message_to_send, sizeof(message_to_send), "VNASY,0");
send_command_blocking();
// Stop ASCII async outputs for both UARTs. If only active UART is disabled, we get a baudrate
// overflow on the other UART when configuring binary outputs (reg 75 and 76) to both UARTs
hal.util->snprintf(message_to_send, sizeof(message_to_send), "VNWRG,06,1");
send_command_blocking();
hal.util->snprintf(message_to_send, sizeof(message_to_send), "VNWRG,06,2");
send_command_blocking();
// Read Model Number Register, ID 1
@ -438,6 +446,9 @@ void AP_ExternalAHRS_VectorNav::initialize() {
send_command_blocking();
}
// Resume asynchronous communications
hal.util->snprintf(message_to_send, sizeof(message_to_send), "VNASY,1");
send_command_blocking();
setup_complete = true;
}