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AP_GPS: fixed ublox M10S auto-config 

this copes with the M10S rejecting multiple-key VALGET calls. We fall
back to fetching one at a time
This commit is contained in:
Andrew Tridgell 2023-06-12 15:53:17 +10:00
parent 9eea693679
commit 0d4018107b
2 changed files with 55 additions and 0 deletions
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49
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -994,6 +994,40 @@ AP_GPS_UBLOX::_parse_gps(void)
}
}
}
if(_msg_id == MSG_ACK_NACK) {
switch(_buffer.nack.clsID) {
case CLASS_CFG:
switch(_buffer.nack.msgID) {
case MSG_CFG_VALGET:
if (active_config.list != nullptr) {
/*
likely this device does not support fetching multiple keys at once, go one at a time
*/
if (active_config.fetch_index == -1) {
Debug("NACK starting %u", unsigned(active_config.count));
active_config.fetch_index = 0;
} else {
// the device does not support the config key we asked for,
// consider the bit as done
active_config.done_mask |= (1U<<active_config.fetch_index);
Debug("NACK %d 0x%x done=0x%x",
int(active_config.fetch_index),
unsigned(active_config.list[active_config.fetch_index].key),
unsigned(active_config.done_mask));
if (active_config.done_mask == (1U<<active_config.count)-1) {
// all done!
_unconfigured_messages &= ~active_config.unconfig_bit;
}
active_config.fetch_index++;
}
if (active_config.fetch_index < active_config.count) {
_configure_valget(active_config.list[active_config.fetch_index].key);
}
}
break;
}
}
}
return false;
}
@ -1226,6 +1260,16 @@ AP_GPS_UBLOX::_parse_gps(void)
_unconfigured_messages &= ~active_config.unconfig_bit;
}
}
if (active_config.fetch_index >= 0 &&
active_config.fetch_index < active_config.count &&
id == active_config.list[active_config.fetch_index].key) {
active_config.fetch_index++;
if (active_config.fetch_index < active_config.count) {
_configure_valget(active_config.list[active_config.fetch_index].key);
Debug("valget %d 0x%x", int(active_config.fetch_index),
unsigned(active_config.list[active_config.fetch_index].key));
}
}
}
// step over the value
@ -1823,6 +1867,11 @@ AP_GPS_UBLOX::_configure_config_set(const config_list *list, uint8_t count, uint
active_config.done_mask = 0;
active_config.unconfig_bit = unconfig_bit;
active_config.layers = layers;
// we start by fetching multiple values at once (with fetch_index
// -1) then if we get a NACK for VALGET we switch to fetching one
// value at a time. This copes with the M10S which can only fetch
// one value at a time
active_config.fetch_index = -1;
uint8_t buf[sizeof(ubx_cfg_valget)+count*sizeof(ConfigKey)];
struct ubx_cfg_valget msg {};

6
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -565,6 +565,10 @@ private:
uint8_t clsID;
uint8_t msgID;
};
struct PACKED ubx_ack_nack {
uint8_t clsID;
uint8_t msgID;
};
struct PACKED ubx_cfg_cfg {
@ -618,6 +622,7 @@ private:
ubx_rxm_rawx rxm_rawx;
#endif
ubx_ack_ack ack;
ubx_ack_nack nack;
ubx_tim_tm2 tim_tm2;
} _buffer;
@ -849,6 +854,7 @@ private:
uint32_t done_mask;
uint32_t unconfig_bit;
uint8_t layers;
int8_t fetch_index;
} active_config;
#if GPS_MOVING_BASELINE