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AP_GPS: move gps blob initialisation out to method

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Peter Barker 2022-04-10 10:29:43 +10:00 committed by Andrew Tridgell
parent 13464ebb20
commit 4b6590734a
2 changed files with 28 additions and 19 deletions
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46
libraries/AP_GPS/AP_GPS.cpp
View File

@ -553,6 +553,32 @@ void AP_GPS::send_blob_start(uint8_t instance, const char *_blob, uint16_t size)
initblob_state[instance].remaining = size;
}
/*
initialise state for sending binary blob initialisation strings
*/
void AP_GPS::send_blob_start(uint8_t instance)
{
if (_type[instance] == GPS_TYPE_UBLOX && (_driver_options & AP_GPS_Backend::DriverOptions::UBX_Use115200)) {
static const char blob[] = UBLOX_SET_BINARY_115200;
send_blob_start(instance, blob, sizeof(blob));
} else if ((_type[instance] == GPS_TYPE_UBLOX_RTK_BASE ||
_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) &&
((_driver_options.get() & AP_GPS_Backend::DriverOptions::UBX_MBUseUart2) == 0)) {
// we use 460800 when doing moving baseline as we need
// more bandwidth. We don't do this if using UART2, as
// in that case the RTCMv3 data doesn't go over the
// link to the flight controller
static const char blob[] = UBLOX_SET_BINARY_460800;
send_blob_start(instance, blob, sizeof(blob));
#if AP_GPS_NMEA_ENABLED
} else if (_type[instance] == GPS_TYPE_HEMI) {
send_blob_start(instance, AP_GPS_NMEA_HEMISPHERE_INIT_STRING, strlen(AP_GPS_NMEA_HEMISPHERE_INIT_STRING));
#endif // AP_GPS_NMEA_ENABLED
} else {
send_blob_start(instance, _initialisation_blob, sizeof(_initialisation_blob));
}
}
/*
send some more initialisation string bytes if there is room in the
UART transmit buffer
@ -684,25 +710,7 @@ void AP_GPS::detect_instance(uint8_t instance)
dstate->last_baud_change_ms = now;
if (_auto_config >= GPS_AUTO_CONFIG_ENABLE_SERIAL_ONLY && new_gps == nullptr) {
if (_type[instance] == GPS_TYPE_UBLOX && (_driver_options & AP_GPS_Backend::DriverOptions::UBX_Use115200)) {
static const char blob[] = UBLOX_SET_BINARY_115200;
send_blob_start(instance, blob, sizeof(blob));
} else if ((_type[instance] == GPS_TYPE_UBLOX_RTK_BASE ||
_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) &&
((_driver_options.get() & AP_GPS_Backend::DriverOptions::UBX_MBUseUart2) == 0)) {
// we use 460800 when doing moving baseline as we need
// more bandwidth. We don't do this if using UART2, as
// in that case the RTCMv3 data doesn't go over the
// link to the flight controller
static const char blob[] = UBLOX_SET_BINARY_460800;
send_blob_start(instance, blob, sizeof(blob));
#if AP_GPS_NMEA_ENABLED
} else if (_type[instance] == GPS_TYPE_HEMI) {
send_blob_start(instance, AP_GPS_NMEA_HEMISPHERE_INIT_STRING, strlen(AP_GPS_NMEA_HEMISPHERE_INIT_STRING));
#endif // AP_GPS_NMEA_ENABLED
} else {
send_blob_start(instance, _initialisation_blob, sizeof(_initialisation_blob));
}
send_blob_start(instance);
}
}

1
libraries/AP_GPS/AP_GPS.h
View File

@ -473,6 +473,7 @@ public:
bool blend_health_check() const;
// handle sending of initialisation strings to the GPS - only used by backends
void send_blob_start(uint8_t instance);
void send_blob_start(uint8_t instance, const char *_blob, uint16_t size);
void send_blob_update(uint8_t instance);