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AP_GPS: use probing when probing for GPS, add detected message

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Peter Barker 2024-02-19 10:57:18 +11:00 committed by Peter Barker
parent b2898ca1d3
commit 494d72503a
3 changed files with 10 additions and 1 deletions
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8
libraries/AP_GPS/AP_GPS.cpp
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@ -999,6 +999,14 @@ void AP_GPS::update_instance(uint8_t instance)
tnow = state[instance].last_corrected_gps_time_us/1000U;
state[instance].corrected_timestamp_updated = false;
}
// we set delta_time_ms to the timeout value when clearing
// state; use it being zero to mark first message
if (!state[instance].announced_detection) {
state[instance].announced_detection = true;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: detected %s", instance + 1, drivers[instance]->name());
}
// delta will only be correct after parsing two messages
timing[instance].delta_time_ms = tnow - timing[instance].last_message_time_ms;
timing[instance].last_message_time_ms = tnow;

1
libraries/AP_GPS/AP_GPS.h
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@ -212,6 +212,7 @@ public:
float undulation; //<height that WGS84 is above AMSL at the current location
bool have_undulation; ///<do we have a value for the undulation
uint32_t last_gps_time_ms; ///< the system time we got the last GPS timestamp, milliseconds
bool announced_detection; ///< true once we have announced GPS has been seen to the user
uint64_t last_corrected_gps_time_us;///< the system time we got the last corrected GPS timestamp, microseconds
bool corrected_timestamp_updated; ///< true if the corrected timestamp has been updated
uint32_t lagged_sample_count; ///< number of samples with 50ms more lag than expected

2
libraries/AP_GPS/GPS_Backend.cpp
View File

@ -136,7 +136,7 @@ void AP_GPS_Backend::_detection_message(char *buffer, const uint8_t buflen) cons
if (dstate.auto_detected_baud) {
hal.util->snprintf(buffer, buflen,
"GPS %d: detected as %s at %d baud",
"GPS %d: probing for %s at %d baud",
instance + 1,
name(),
int(gps._baudrates[dstate.current_baud]));