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AP_GPS: ensure uart buffer sizes are OK for RTK

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rover needs higher tx size, base needs higher rx size
This commit is contained in:
Andrew Tridgell 2023-06-24 14:34:44 +10:00
parent 64869b6e16
commit 848e1bfdf8
1 changed files with 8 additions and 1 deletions
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9
libraries/AP_GPS/AP_GPS.cpp
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@ -763,7 +763,14 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance)
dstate->current_baud = 0;
}
uint32_t baudrate = _baudrates[dstate->current_baud];
_port[instance]->begin(baudrate);
uint16_t rx_size=0, tx_size=0;
if (_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) {
tx_size = 2048;
}
if (_type[instance] == GPS_TYPE_UBLOX_RTK_BASE) {
rx_size = 2048;
}
_port[instance]->begin(baudrate, rx_size, tx_size);
_port[instance]->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
dstate->last_baud_change_ms = now;