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GPS: added delay hook for GPS detection 

this allows for MAVLink to be up during GPS detection

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2987 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
tridge60@gmail.com 2011-07-31 22:34:37 +00:00
parent 28cf3dfc79
commit 22b5eb4273
2 changed files with 6 additions and 1 deletions
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5
libraries/AP_GPS/AP_GPS_Auto.cpp
View File

@ -37,6 +37,7 @@ void
AP_GPS_Auto::init(void) AP_GPS_Auto::init(void)
{ {
idleTimeout = 1200; idleTimeout = 1200;
if (callback == NULL) callback = delay;
} }
// Called the first time that a client tries to kick the GPS to update. // Called the first time that a client tries to kick the GPS to update.
@ -116,6 +117,7 @@ AP_GPS_Auto::_detect(void)
_port->flush(); _port->flush();
then = millis(); then = millis();
do { do {
callback(1);
if (_port->available()) { if (_port->available()) {
then = millis(); then = millis();
_port->read(); _port->read();
@ -129,6 +131,7 @@ AP_GPS_Auto::_detect(void)
// This will normally only be the case where there is no GPS attached. // This will normally only be the case where there is no GPS attached.
// //
while (_port->available() < 4) { while (_port->available() < 4) {
callback(1);
if ((millis() - then) > 1200) { if ((millis() - then) > 1200) {
Serial.print('!'); Serial.print('!');
return NULL; return NULL;
@ -193,7 +196,7 @@ AP_GPS_Auto::_detect(void)
_fs->println_P((const prog_char_t *)_sirf_set_binary); _fs->println_P((const prog_char_t *)_sirf_set_binary);
// give the GPS time to react to the settings // give the GPS time to react to the settings
delay(100); callback(100);
continue; continue;
} else { } else {
Serial.print('?'); Serial.print('?');

2
libraries/AP_GPS/GPS.h
View File

@ -24,6 +24,8 @@ public:
/// ///
void update(void); void update(void);
void (*callback)(unsigned long t);
/// GPS status codes /// GPS status codes
/// ///
/// \note Non-intuitive ordering for legacy reasons /// \note Non-intuitive ordering for legacy reasons