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AP_GPS: add fetching of gps configuration failure reasons

This commit is contained in:
Michael du Breuil 2016-04-11 20:16:20 -07:00 committed by Lucas De Marchi
parent 27fadb2572
commit 2538c17ee0
5 changed files with 41 additions and 0 deletions
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10
libraries/AP_GPS/AP_GPS.cpp
View File

@ -609,6 +609,16 @@ AP_GPS::first_unconfigured_gps(void) const
return GPS_ALL_CONFIGURED;
}
void
AP_GPS::broadcast_first_configuration_failure_reason(void) const {
uint8_t unconfigured = first_unconfigured_gps();
if (drivers[unconfigured] == NULL) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GPS %d: was not found", unconfigured + 1);
} else {
drivers[unconfigured]->broadcast_configuration_failure_reason();
}
}
void
AP_GPS::_broadcast_gps_type(const char *type, uint8_t instance, int8_t baud_index)
{

1
libraries/AP_GPS/AP_GPS.h
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@ -344,6 +344,7 @@ public:
// Returns the index of the first unconfigured GPS (returns GPS_ALL_CONFIGURED if all instances report as being configured)
uint8_t first_unconfigured_gps(void) const;
void broadcast_first_configuration_failure_reason(void) const;
private:
struct GPS_timing {

27
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -1187,3 +1187,30 @@ AP_GPS_UBLOX::inject_data(uint8_t *data, uint8_t len)
Debug("UBX: Not enough TXSPACE");
}
}
static const char *reasons[] = {"navigation rate",
"posllh rate",
"status rate",
"solution rate",
"velned rate",
"dop rate",
"hw monitor rate",
"hw2 monitor rate",
"raw rate",
"version",
"navigation settings",
"GNSS settings",
"SBAS settings"};
void
AP_GPS_UBLOX::broadcast_configuration_failure_reason(void) const {
for (uint8_t i = 0; i < ARRAY_SIZE(reasons); i++) {
if (_unconfigured_messages & (1 << i)) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GPS %d: u-blox %s configuration 0x%02x",
state.instance +1, reasons[i], _unconfigured_messages);
break;
}
}
}

1
libraries/AP_GPS/AP_GPS_UBLOX.h
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@ -108,6 +108,7 @@ public:
}
}
void broadcast_configuration_failure_reason(void) const;
private:
// u-blox UBX protocol essentials
struct PACKED ubx_header {

2
libraries/AP_GPS/GPS_Backend.h
View File

@ -49,6 +49,8 @@ public:
virtual void send_mavlink_gps2_rtk(mavlink_channel_t chan) { return ; }
virtual void broadcast_configuration_failure_reason(void) const { return ; }
protected:
AP_HAL::UARTDriver *port; ///< UART we are attached to
AP_GPS &gps; ///< access to frontend (for parameters)