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AP_GPS_UBLOX: send cfg save msg only once every 1 second

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This commit is contained in:
Siddharth Bharat Purohit 2015-11-04 13:14:27 -08:00 committed by Andrew Tridgell
parent bc708f9808
commit 360c09f9bd
2 changed files with 8 additions and 3 deletions
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10
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -57,7 +57,8 @@ AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UART
rate_update_step(0), rate_update_step(0),
_last_5hz_time(0), _last_5hz_time(0),
noReceivedHdop(true), noReceivedHdop(true),
_cfg_saved(false) _cfg_saved(false),
_last_cfg_sent_time(0)
{ {
// stop any config strings that are pending // stop any config strings that are pending
gps.send_blob_start(state.instance, NULL, 0); gps.send_blob_start(state.instance, NULL, 0);
@ -154,10 +155,12 @@ AP_GPS_UBLOX::read(void)
uint8_t data; uint8_t data;
int16_t numc; int16_t numc;
bool parsed = false; bool parsed = false;
uint32_t millis_now = hal.scheduler->millis();
if (need_rate_update) { if (need_rate_update) {
send_next_rate_update(); send_next_rate_update();
}else if(!_cfg_saved && gps._save_config) { //save the configuration sent until now }else if(!_cfg_saved && gps._save_config && (millis_now - _last_cfg_sent_time) > 1000) { //save the configuration sent until now
_last_cfg_sent_time = millis_now;
_save_cfg(); _save_cfg();
} }
@ -796,7 +799,8 @@ AP_GPS_UBLOX::_configure_gps(void)
} }
/* /*
* * save gps configurations to non-volatile memory sent until the call of
* this message
*/ */
void void
AP_GPS_UBLOX::_save_cfg() AP_GPS_UBLOX::_save_cfg()

1
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -405,6 +405,7 @@ private:
uint32_t _last_vel_time; uint32_t _last_vel_time;
uint32_t _last_pos_time; uint32_t _last_pos_time;
uint32_t _last_cfg_sent_time;
// do we have new position information? // do we have new position information?
bool _new_position:1; bool _new_position:1;