From 33a2ad7e07b0d2f3fb85c6539bd435eb50b77ee7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 10 Jun 2012 16:34:53 +1000
Subject: [PATCH] GPS: add stub settings for nav_setting in the other GPS
 drivers

only Ublox supports nav_setting so far
---
 libraries/AP_GPS/AP_GPS_406.cpp   |  4 ++--
 libraries/AP_GPS/AP_GPS_406.h     |  2 +-
 libraries/AP_GPS/AP_GPS_Auto.cpp  |  5 +++--
 libraries/AP_GPS/AP_GPS_Auto.h    |  3 ++-
 libraries/AP_GPS/AP_GPS_HIL.cpp   |  2 +-
 libraries/AP_GPS/AP_GPS_HIL.h     |  2 +-
 libraries/AP_GPS/AP_GPS_IMU.cpp   |  2 +-
 libraries/AP_GPS/AP_GPS_IMU.h     |  2 +-
 libraries/AP_GPS/AP_GPS_MTK.cpp   |  2 +-
 libraries/AP_GPS/AP_GPS_MTK.h     |  2 +-
 libraries/AP_GPS/AP_GPS_MTK16.cpp |  2 +-
 libraries/AP_GPS/AP_GPS_MTK16.h   |  2 +-
 libraries/AP_GPS/AP_GPS_NMEA.cpp  |  2 +-
 libraries/AP_GPS/AP_GPS_NMEA.h    |  2 +-
 libraries/AP_GPS/AP_GPS_None.h    |  2 +-
 libraries/AP_GPS/AP_GPS_SIRF.cpp  |  2 +-
 libraries/AP_GPS/AP_GPS_SIRF.h    |  2 +-
 libraries/AP_GPS/AP_GPS_Shim.h    |  2 +-
 libraries/AP_GPS/GPS.cpp          |  2 +-
 libraries/AP_GPS/GPS.h            | 16 +++++++++++++++-
 20 files changed, 38 insertions(+), 22 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_406.cpp b/libraries/AP_GPS/AP_GPS_406.cpp
index 2dbc6139bb..6c557e7fe0 100644
--- a/libraries/AP_GPS/AP_GPS_406.cpp
+++ b/libraries/AP_GPS/AP_GPS_406.cpp
@@ -25,12 +25,12 @@ AP_GPS_406::AP_GPS_406(Stream *s) : AP_GPS_SIRF(s)
 }
 
 // Public Methods ////////////////////////////////////////////////////////////////////
-void AP_GPS_406::init(void)
+void AP_GPS_406::init(enum GPS_Engine_Setting nav_setting)
 {
     _change_to_sirf_protocol();		// Changes to SIRF protocol and sets baud rate
     _configure_gps(); 				// Function to configure GPS, to output only the desired msg's
 
-    AP_GPS_SIRF::init();			// let the superclass do anything it might need here
+    AP_GPS_SIRF::init(nav_setting);			// let the superclass do anything it might need here
 
     idleTimeout = 1200;
 }
diff --git a/libraries/AP_GPS/AP_GPS_406.h b/libraries/AP_GPS/AP_GPS_406.h
index daad1e6ae7..6040858f20 100644
--- a/libraries/AP_GPS/AP_GPS_406.h
+++ b/libraries/AP_GPS/AP_GPS_406.h
@@ -21,7 +21,7 @@ class AP_GPS_406 : public AP_GPS_SIRF
 public:
     // Methods
     AP_GPS_406(Stream *port);
-    virtual void	init(void);
+    virtual void	init(enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
 
 private:
     void		_change_to_sirf_protocol(void);
diff --git a/libraries/AP_GPS/AP_GPS_Auto.cpp b/libraries/AP_GPS/AP_GPS_Auto.cpp
index 724041e0e2..4d23221420 100644
--- a/libraries/AP_GPS/AP_GPS_Auto.cpp
+++ b/libraries/AP_GPS/AP_GPS_Auto.cpp
@@ -34,10 +34,11 @@ AP_GPS_Auto::AP_GPS_Auto(FastSerial *s, GPS **gps)  :
 // Do nothing at init time - it may be too early to try detecting the GPS
 //
 void
-AP_GPS_Auto::init(void)
+AP_GPS_Auto::init(enum GPS_Engine_Setting nav_setting)
 {
     idleTimeout = 1200;
     if (callback == NULL) callback = delay;
+	_nav_setting = nav_setting;
 }
 
 // Called the first time that a client tries to kick the GPS to update.
@@ -70,7 +71,7 @@ AP_GPS_Auto::read(void)
         if (NULL != (gps = _detect())) {
 
             // configure the detected GPS and give it a chance to listen to its device
-            gps->init();
+            gps->init(_nav_setting);
             then = millis();
             while ((millis() - then) < 1200) {
                 // if we get a successful update from the GPS, we are done
diff --git a/libraries/AP_GPS/AP_GPS_Auto.h b/libraries/AP_GPS/AP_GPS_Auto.h
index db38de96af..932ed2a990 100644
--- a/libraries/AP_GPS/AP_GPS_Auto.h
+++ b/libraries/AP_GPS/AP_GPS_Auto.h
@@ -24,7 +24,7 @@ public:
     AP_GPS_Auto(FastSerial *s, GPS **gps);
 
     /// Dummy init routine, does nothing
-    virtual void		init(void);
+    virtual void		init(enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
 
     /// Detect and initialise the attached GPS unit.  Updates the
     /// pointer passed into the constructor when a GPS is detected.
@@ -47,5 +47,6 @@ private:
     static const prog_char _ublox_set_binary[];
     static const prog_char _sirf_set_binary[];
 
+	enum GPS_Engine_Setting _nav_setting;
 };
 #endif
diff --git a/libraries/AP_GPS/AP_GPS_HIL.cpp b/libraries/AP_GPS/AP_GPS_HIL.cpp
index 31fa562155..66dc206332 100644
--- a/libraries/AP_GPS/AP_GPS_HIL.cpp
+++ b/libraries/AP_GPS/AP_GPS_HIL.cpp
@@ -24,7 +24,7 @@ AP_GPS_HIL::AP_GPS_HIL(Stream *s) : GPS(s)
 }
 
 // Public Methods //////////////////////////////////////////////////////////////
-void AP_GPS_HIL::init(void)
+void AP_GPS_HIL::init(enum GPS_Engine_Setting nav_setting)
 {
     idleTimeout = 1200;
 }
diff --git a/libraries/AP_GPS/AP_GPS_HIL.h b/libraries/AP_GPS/AP_GPS_HIL.h
index fab213d042..939815d0d0 100644
--- a/libraries/AP_GPS/AP_GPS_HIL.h
+++ b/libraries/AP_GPS/AP_GPS_HIL.h
@@ -17,7 +17,7 @@
 class AP_GPS_HIL : public GPS {
 public:
     AP_GPS_HIL(Stream *s);
-    virtual void init(void);
+    virtual void init(enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
     virtual bool read(void);
 
     /**
diff --git a/libraries/AP_GPS/AP_GPS_IMU.cpp b/libraries/AP_GPS/AP_GPS_IMU.cpp
index 9695fd6aae..8156ae2d0e 100644
--- a/libraries/AP_GPS/AP_GPS_IMU.cpp
+++ b/libraries/AP_GPS/AP_GPS_IMU.cpp
@@ -43,7 +43,7 @@ AP_GPS_IMU::AP_GPS_IMU(Stream *s) : GPS(s)
 
 // Public Methods //////////////////////////////////////////////////////////////
 void
-AP_GPS_IMU::init(void)
+AP_GPS_IMU::init(enum GPS_Engine_Setting nav_setting)
 {
     // we expect the stream to already be open at the corret bitrate
     idleTimeout = 1200;
diff --git a/libraries/AP_GPS/AP_GPS_IMU.h b/libraries/AP_GPS/AP_GPS_IMU.h
index ed5ee20326..bfc2d0a9c3 100644
--- a/libraries/AP_GPS/AP_GPS_IMU.h
+++ b/libraries/AP_GPS/AP_GPS_IMU.h
@@ -11,7 +11,7 @@ public:
 
     // Methods
     AP_GPS_IMU(Stream *s);
-    virtual void init(void);
+    virtual void init(enum GPS_Engine_Setting nav_setting);
     virtual bool read(void);
 
     // Properties
diff --git a/libraries/AP_GPS/AP_GPS_MTK.cpp b/libraries/AP_GPS/AP_GPS_MTK.cpp
index a50088e43e..3f93105cd1 100644
--- a/libraries/AP_GPS/AP_GPS_MTK.cpp
+++ b/libraries/AP_GPS/AP_GPS_MTK.cpp
@@ -21,7 +21,7 @@ AP_GPS_MTK::AP_GPS_MTK(Stream *s) : GPS(s)
 
 // Public Methods //////////////////////////////////////////////////////////////
 void
-AP_GPS_MTK::init(void)
+AP_GPS_MTK::init(enum GPS_Engine_Setting nav_setting)
 {
     _port->flush();
     // initialize serial port for binary protocol use
diff --git a/libraries/AP_GPS/AP_GPS_MTK.h b/libraries/AP_GPS/AP_GPS_MTK.h
index 8697f23a26..1f13fb4e83 100644
--- a/libraries/AP_GPS/AP_GPS_MTK.h
+++ b/libraries/AP_GPS/AP_GPS_MTK.h
@@ -21,7 +21,7 @@
 class AP_GPS_MTK : public GPS {
 public:
     AP_GPS_MTK(Stream *s);
-    virtual void	init(void);
+    virtual void	init(enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
     virtual bool	read(void);
 
 private:
diff --git a/libraries/AP_GPS/AP_GPS_MTK16.cpp b/libraries/AP_GPS/AP_GPS_MTK16.cpp
index 7c2228a346..d4b4728d8d 100644
--- a/libraries/AP_GPS/AP_GPS_MTK16.cpp
+++ b/libraries/AP_GPS/AP_GPS_MTK16.cpp
@@ -26,7 +26,7 @@ AP_GPS_MTK16::AP_GPS_MTK16(Stream *s) : GPS(s)
 
 // Public Methods //////////////////////////////////////////////////////////////
 void
-AP_GPS_MTK16::init(void)
+AP_GPS_MTK16::init(enum GPS_Engine_Setting nav_setting)
 {
     _port->flush();
 
diff --git a/libraries/AP_GPS/AP_GPS_MTK16.h b/libraries/AP_GPS/AP_GPS_MTK16.h
index 07d939c084..187d299c23 100644
--- a/libraries/AP_GPS/AP_GPS_MTK16.h
+++ b/libraries/AP_GPS/AP_GPS_MTK16.h
@@ -19,7 +19,7 @@
 class AP_GPS_MTK16 : public GPS {
 public:
     AP_GPS_MTK16(Stream *s);
-    virtual void	init(void);
+    virtual void	init(enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
     virtual bool	read(void);
 
 private:
diff --git a/libraries/AP_GPS/AP_GPS_NMEA.cpp b/libraries/AP_GPS/AP_GPS_NMEA.cpp
index 47d3969840..4c44e5ed53 100644
--- a/libraries/AP_GPS/AP_GPS_NMEA.cpp
+++ b/libraries/AP_GPS/AP_GPS_NMEA.cpp
@@ -97,7 +97,7 @@ AP_GPS_NMEA::AP_GPS_NMEA(Stream *s) :
 }
 
 // Public Methods //////////////////////////////////////////////////////////////
-void AP_GPS_NMEA::init(void)
+void AP_GPS_NMEA::init(enum GPS_Engine_Setting nav_setting)
 {
     BetterStream	*bs = (BetterStream *)_port;
 
diff --git a/libraries/AP_GPS/AP_GPS_NMEA.h b/libraries/AP_GPS/AP_GPS_NMEA.h
index 23be743ba8..735341b401 100644
--- a/libraries/AP_GPS/AP_GPS_NMEA.h
+++ b/libraries/AP_GPS/AP_GPS_NMEA.h
@@ -58,7 +58,7 @@ public:
     /// Perform a (re)initialisation of the GPS; sends the
     /// protocol configuration messages.
     ///
-    virtual void	init();
+    virtual void	init(enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
 
     /// Checks the serial receive buffer for characters,
     /// attempts to parse NMEA data and updates internal state
diff --git a/libraries/AP_GPS/AP_GPS_None.h b/libraries/AP_GPS/AP_GPS_None.h
index 17202f5180..af7caa9dd6 100644
--- a/libraries/AP_GPS/AP_GPS_None.h
+++ b/libraries/AP_GPS/AP_GPS_None.h
@@ -9,7 +9,7 @@ class AP_GPS_None : public GPS
 {
 public:
     AP_GPS_None(Stream *s) : GPS(s) {}
-    virtual void init(void) {};
+    virtual void init(enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE) {};
     virtual bool read(void) {
         return false;
     };
diff --git a/libraries/AP_GPS/AP_GPS_SIRF.cpp b/libraries/AP_GPS/AP_GPS_SIRF.cpp
index e08b5d0eda..32250d663c 100644
--- a/libraries/AP_GPS/AP_GPS_SIRF.cpp
+++ b/libraries/AP_GPS/AP_GPS_SIRF.cpp
@@ -30,7 +30,7 @@ AP_GPS_SIRF::AP_GPS_SIRF(Stream *s) : GPS(s)
 
 // Public Methods //////////////////////////////////////////////////////////////
 void
-AP_GPS_SIRF::init(void)
+AP_GPS_SIRF::init(enum GPS_Engine_Setting nav_setting)
 {
     _port->flush();
 
diff --git a/libraries/AP_GPS/AP_GPS_SIRF.h b/libraries/AP_GPS/AP_GPS_SIRF.h
index 702aea9610..55c4f854e6 100644
--- a/libraries/AP_GPS/AP_GPS_SIRF.h
+++ b/libraries/AP_GPS/AP_GPS_SIRF.h
@@ -19,7 +19,7 @@ class AP_GPS_SIRF : public GPS {
 public:
     AP_GPS_SIRF(Stream *s);
 
-    virtual void   	init();
+    virtual void   	init(enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
     virtual bool	read();
 
 private:
diff --git a/libraries/AP_GPS/AP_GPS_Shim.h b/libraries/AP_GPS/AP_GPS_Shim.h
index feef923690..e4ae5602d6 100644
--- a/libraries/AP_GPS/AP_GPS_Shim.h
+++ b/libraries/AP_GPS/AP_GPS_Shim.h
@@ -19,7 +19,7 @@ class AP_GPS_Shim : public GPS
 public:
     AP_GPS_Shim() : GPS(NULL) {}
 
-    virtual void init(void) {};
+    virtual void init(enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE) {};
     virtual bool read(void) {
         bool updated = _updated;
         _updated = false;
diff --git a/libraries/AP_GPS/GPS.cpp b/libraries/AP_GPS/GPS.cpp
index 51d3d36604..1466d32108 100644
--- a/libraries/AP_GPS/GPS.cpp
+++ b/libraries/AP_GPS/GPS.cpp
@@ -35,7 +35,7 @@ GPS::update(void)
 			Debug("gps read timeout %lu %lu", (unsigned long)tnow, (unsigned long)_idleTimer);
             _status = NO_GPS;
 
-            init();
+            init(_nav_setting);
             // reset the idle timer
             _idleTimer = tnow;
         }
diff --git a/libraries/AP_GPS/GPS.h b/libraries/AP_GPS/GPS.h
index e0b2a59b15..ebce5a0018 100644
--- a/libraries/AP_GPS/GPS.h
+++ b/libraries/AP_GPS/GPS.h
@@ -36,6 +36,18 @@ public:
         GPS_OK = 2		///< Receiving valid messages and locked
     };
 
+	// GPS navigation engine settings. Not all GPS receivers support
+	// this
+	enum GPS_Engine_Setting {
+		GPS_ENGINE_NONE        = -1,
+		GPS_ENGINE_PEDESTRIAN  = 3,
+		GPS_ENGINE_AUTOMOTIVE  = 4,
+		GPS_ENGINE_SEA         = 5,
+		GPS_ENGINE_AIRBORNE_1G = 6,
+		GPS_ENGINE_AIRBORNE_2G = 7,
+		GPS_ENGINE_AIRBORNE_4G = 8
+	};
+
     /// Query GPS status
     ///
     /// The 'valid message' status indicates that a recognised message was
@@ -72,7 +84,7 @@ public:
     ///
     /// Must be implemented by the GPS driver.
     ///
-    virtual void	init(void) = 0;
+    virtual void	init(enum GPS_Engine_Setting engine_setting = GPS_ENGINE_NONE) = 0;
 
     // Properties
     uint32_t time;			///< GPS time (milliseconds from epoch)
@@ -166,6 +178,8 @@ protected:
     /// Time epoch code for the gps in use
     GPS_Time_Epoch				_epoch;
 
+	enum GPS_Engine_Setting _nav_setting;
+
 private: