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AP_GPS: switch ublox over to 230400 baud

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this ensures we have sufficient bandwidth for raw data
This commit is contained in:
Andrew Tridgell 2020-05-22 12:13:08 +10:00 committed by WickedShell
parent 568e13fbb9
commit 78858bbcdd
2 changed files with 4 additions and 4 deletions
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6
libraries/AP_GPS/AP_GPS.cpp
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@ -64,7 +64,7 @@ const uint32_t AP_GPS::_baudrates[] = {9600U, 115200U, 4800U, 19200U, 38400U, 57
// initialisation blobs to send to the GPS to try to get it into the
// right mode
const char AP_GPS::_initialisation_blob[] = UBLOX_SET_BINARY MTK_SET_BINARY SIRF_SET_BINARY;
const char AP_GPS::_initialisation_blob[] = UBLOX_SET_BINARY_230400 MTK_SET_BINARY SIRF_SET_BINARY;
AP_GPS *AP_GPS::_singleton;
@ -565,13 +565,13 @@ void AP_GPS::detect_instance(uint8_t instance)
running a uBlox at less than 38400 will lead to packet
corruption, as we can't receive the packets in the 200ms
window for 5Hz fixes. The NMEA startup message should force
the uBlox into 115200 no matter what rate it is configured
the uBlox into 230400 no matter what rate it is configured
for.
*/
if ((_type[instance] == GPS_TYPE_AUTO ||
_type[instance] == GPS_TYPE_UBLOX) &&
((!_auto_config && _baudrates[dstate->current_baud] >= 38400) ||
_baudrates[dstate->current_baud] == 115200) &&
_baudrates[dstate->current_baud] == 230400) &&
AP_GPS_UBLOX::_detect(dstate->ublox_detect_state, data)) {
new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance], GPS_ROLE_NORMAL);
}

2
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -37,7 +37,7 @@
* modules are configured with all ubx binary messages off, which
* would mean we would never detect it.
*/
#define UBLOX_SET_BINARY "\265\142\006\001\003\000\001\006\001\022\117$PUBX,41,1,0023,0001,115200,0*1C\r\n"
#define UBLOX_SET_BINARY_115200 "\265\142\006\001\003\000\001\006\001\022\117$PUBX,41,1,0023,0001,115200,0*1C\r\n"
// a varient with 230400 baudrate
#define UBLOX_SET_BINARY_230400 "\265\142\006\001\003\000\001\006\001\022\117$PUBX,41,1,0023,0001,230400,0*1E\r\n"