clean up idleTimeout

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2606 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_GPS/AP_GPS_406.cpp

@@ -27,8 +27,6 @@ void AP_GPS_406::init(void)
 	_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
-	
-	idleTimeout = 1200;
 }
 
 // Private Methods //////////////////////////////////////////////////////////////

libraries/AP_GPS/AP_GPS_Auto.cpp

@@ -36,7 +36,6 @@ AP_GPS_Auto::AP_GPS_Auto(FastSerial *s, GPS **gps)  :
 void
 AP_GPS_Auto::init(void)
 {
-	idleTimeout = 1200;
 }
 
 // Called the first time that a client tries to kick the GPS to update.

libraries/AP_GPS/AP_GPS_MTK.cpp

@@ -33,8 +33,6 @@ AP_GPS_MTK::init(void)
 	
 	// set initial epoch code
 	_epoch = TIME_OF_DAY;
-	
-	idleTimeout = 1200;
 }
 
 // Process bytes available from the stream

libraries/AP_GPS/AP_GPS_MTK16.cpp

@@ -36,7 +36,6 @@ AP_GPS_MTK16::init(void)
 	_epoch = TIME_OF_DAY;
 	_time_offset = 0;
 	_offset_calculated = false;
-	idleTimeout = 1200;
 }
 
 // Process bytes available from the stream

libraries/AP_GPS/AP_GPS_NMEA.cpp

@@ -116,8 +116,6 @@ void AP_GPS_NMEA::init(void)
 
 	// send the ublox init strings
 	bs->print_P((const prog_char_t *)_ublox_init_string);
-	
-	idleTimeout = 1200;
 }
 
 bool AP_GPS_NMEA::read(void)

libraries/AP_GPS/AP_GPS_SIRF.cpp

@@ -40,7 +40,6 @@ AP_GPS_SIRF::init(void)
 
 	// send SiRF binary setup messages
 	_port->write(init_messages, sizeof(init_messages));
-	idleTimeout = 1200;
 }
 
 // Process bytes available from the stream

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -29,7 +29,6 @@ AP_GPS_UBLOX::init(void)
 	_port->flush();
 	
 	_epoch = TIME_OF_WEEK;
-	idleTimeout = 1200;	
 }
 
 // Process bytes available from the stream

libraries/AP_GPS/GPS.cpp

@@ -13,7 +13,7 @@ GPS::update(void)
 
 	// if we did not get a message, and the idle timer has expired, re-init
 	if (!result) {
-		if ((millis() - _idleTimer) > idleTimeout) {
+		if ((millis() - _idleTimer) > _idleTimeout) {
 			_status = NO_GPS;
 			
 			init();

libraries/AP_GPS/GPS.h

@@ -85,6 +85,10 @@ public:
 	/// already seen.
 	bool	new_data;
 
+	/// Update the idle timeout value
+	///
+	void setIdleTimeout(unsigned long ms) { _idleTimeout = ms; }
+	
 	// Deprecated properties
 	bool	fix;			///< true if we have a position fix (use ::status instead)
 	bool	valid_read;		///< true if we have seen data from the GPS (use ::status instead)
@@ -96,14 +100,6 @@ public:
 	virtual void setHIL(long time, float latitude, float longitude, float altitude,
             float ground_speed, float ground_course, float speed_3d, uint8_t num_sats);
 
-	/// Time in milliseconds after which we will assume the GPS is no longer
-	/// sending us updates and attempt a re-init.
-	///
-	/// 1200ms allows a small amount of slack over the worst-case 1Hz update
-	/// rate.
-	///
-	unsigned long	idleTimeout;
-
 protected:
 	Stream	*_port;			///< port the GPS is attached to
 
@@ -160,6 +156,15 @@ private:
 	/// Last time that the GPS driver got a good packet from the GPS
 	///
 	unsigned long 				_idleTimer;
+	
+	/// Time in milliseconds after which we will assume the GPS is no longer
+	/// sending us updates and attempt a re-init.
+	///
+	/// 1200ms allows a small amount of slack over the worst-case 1Hz update
+	/// rate.
+	///
+	static unsigned long	_idleTimeout;
+
 
 	/// Our current status
 	GPS_Status					_status;