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Add a delay after sending the GPS mode switch strings in an attempt to give any NMEA data time to drain before we attempt to sniff again.

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Otherwise, we can end up settling on NMEA as a mode just after switching a SiRF GPS to binary mode.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1467 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com 2011-01-10 01:50:42 +00:00
parent 0b2e2c55f9
commit 3ac2193d48
1 changed files with 13 additions and 10 deletions
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23
libraries/AP_GPS/AP_GPS_Auto.cpp
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@ -8,7 +8,7 @@
static unsigned int baudrates[] = {38400U, 57600U, 9600U, 4800U};
AP_GPS_Auto::AP_GPS_Auto(FastSerial *port, GPS **gps) :
AP_GPS_Auto::AP_GPS_Auto(FastSerial *port, GPS **gps) :
GPS(port),
_FSport(port), // do we need this, or can we cast _port up?
_gps(gps)
@ -42,7 +42,7 @@ AP_GPS_Auto::read(void)
if (NULL != (gps = _detect())) {
// make the detected GPS the default
*_gps = gps;
// configure the detected GPS and run one update
gps->print_errors = true; // XXX
gps->init();
@ -68,7 +68,7 @@ AP_GPS_Auto::_detect(void)
GPS *gps;
//
// Loop attempting to detect a recognised GPS
// Loop attempting to detect a recognized GPS
//
gps = NULL;
for (tries = 0; tries < 2; tries++) {
@ -88,7 +88,7 @@ AP_GPS_Auto::_detect(void)
_port->read();
}
} while ((millis() - then) < 50);
//
// Collect four characters to fingerprint a device
//
@ -104,11 +104,11 @@ AP_GPS_Auto::_detect(void)
fingerprint[3]);
//
// u-blox or MTK in DIYD binary mode (whose smart idea was
// ublox or MTK in DIYD binary mode (whose smart idea was
// it to make the MTK look sort-of like it was talking UBX?)
//
if ((0xb5 == fingerprint[0]) &&
(0x62 == fingerprint[1]) &&
(0x62 == fingerprint[1]) &&
(0x01 == fingerprint[2])) {
// message 5 is MTK pretending to talk UBX
@ -118,17 +118,17 @@ AP_GPS_Auto::_detect(void)
break;
}
// any other message is u-blox
Serial.printf("detected u-blox in binary mode\n");
// any other message is ublox
Serial.printf("detected ublox in binary mode\n");
gps = new AP_GPS_UBLOX(_port);
break;
}
}
//
// MTK v1.6
//
if ((0xd0 == fingerprint[0]) &&
(0xdd == fingerprint[1]) &&
(0xdd == fingerprint[1]) &&
(0x20 == fingerprint[2])) {
Serial.printf("detected MTK v1.6\n");
gps = new AP_GPS_MTK16(_port);
@ -154,6 +154,9 @@ AP_GPS_Auto::_detect(void)
_port->println(MTK_SET_BINARY);
_port->println(UBLOX_SET_BINARY);
_port->println(SIRF_SET_BINARY);
// give the GPS time to react to the settings
delay(100);
continue;
}