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AP_GPS: fixed u-blox F9 auto configuration

This commit is contained in:
Andrew Tridgell 2019-07-01 14:51:56 +10:00
parent 502f74f0d9
commit 5bfb6ced84
2 changed files with 22 additions and 2 deletions
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23
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -78,7 +78,15 @@ AP_GPS_UBLOX::_request_next_config(void)
return;
}
Debug("Unconfigured messages: %u Current message: %u\n", (unsigned)_unconfigured_messages, (unsigned)_next_message);
if (_unconfigured_messages == CONFIG_RATE_SOL && havePvtMsg) {
/*
we don't need SOL if we have PVT and TIMEGPS. This is needed
as F9P doesn't support the SOL message
*/
_unconfigured_messages &= ~CONFIG_RATE_SOL;
}
Debug("Unconfigured messages: 0x%x Current message: %u\n", (unsigned)_unconfigured_messages, (unsigned)_next_message);
// check AP_GPS_UBLOX.h for the enum that controls the order.
// This switch statement isn't maintained against the enum in order to reduce code churn
@ -869,6 +877,11 @@ AP_GPS_UBLOX::_parse_gps(void)
state.instance + 1,
_version.hwVersion,
_version.swVersion);
// check for F9. The F9 does not respond to SVINFO, so we need to use MON_VER
// for hardware generation
if (strncmp(_version.hwVersion, "00190000", 8) == 0) {
_hardware_generation = UBLOX_F9;
}
break;
default:
unexpected_message();
@ -1090,8 +1103,9 @@ AP_GPS_UBLOX::_parse_gps(void)
case MSG_TIMEGPS:
Debug("MSG_TIMEGPS");
_check_new_itow(_buffer.timegps.itow);
if (_buffer.timegps.valid & UBX_TIMEGPS_VALID_WEEK_MASK)
if (_buffer.timegps.valid & UBX_TIMEGPS_VALID_WEEK_MASK) {
state.time_week = _buffer.timegps.week;
}
break;
case MSG_VELNED:
Debug("MSG_VELNED");
@ -1395,6 +1409,11 @@ bool AP_GPS_UBLOX::get_lag(float &lag_sec) const
// based on flight logs the 7 and 8 series seem to produce about 120ms lag
lag_sec = 0.12f;
break;
case UBLOX_F9:
// F9 lag not verified yet from flight log, but likely to be at least
// as good as M8
lag_sec = 0.12f;
break;
};
return true;
}

1
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -510,6 +510,7 @@ private:
UBLOX_6,
UBLOX_7,
UBLOX_M8,
UBLOX_F9 = 0x80, // comes from MON_VER hwVersion string
UBLOX_UNKNOWN_HARDWARE_GENERATION = 0xff // not in the ublox spec used for
// flagging state in the driver
};