Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: u-blox Remove 5Hz warning 

The warnings test case is better covered by the rest of the driver
while it is performing the normal settings audit.
This commit is contained in:
Michael du Breuil 2016-09-15 04:03:39 -07:00 committed by Andrew Tridgell
parent 3e3f539a6a
commit 86c2b1d84a
2 changed files with 1 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -65,15 +65,12 @@ AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UART
_new_speed(0),
_disable_counter(0),
next_fix(AP_GPS::NO_FIX),
_last_5hz_time(0),
_cfg_needs_save(false),
noReceivedHdop(true)
{
// stop any config strings that are pending
gps.send_blob_start(state.instance, NULL, 0);
_last_5hz_time = AP_HAL::millis();
// start the process of updating the GPS rates
_request_next_config();
}
@ -127,7 +124,7 @@ AP_GPS_UBLOX::_request_next_config(void)
_send_message(CLASS_CFG, MSG_CFG_GNSS, NULL, 0);
break;
case STEP_NAV_RATE:
_request_navigation_rate();
_send_message(CLASS_CFG, MSG_CFG_RATE, NULL, 0);
break;
case STEP_POSLLH:
if(!_request_message_rate(CLASS_NAV, MSG_POSLLH)) {
@ -900,13 +897,6 @@ AP_GPS_UBLOX::_parse_gps(void)
state.num_sats = _buffer.solution.satellites;
if (next_fix >= AP_GPS::GPS_OK_FIX_2D) {
state.last_gps_time_ms = AP_HAL::millis();
if (state.time_week == _buffer.solution.week &&
state.time_week_ms + 200 == _buffer.solution.time) {
// we got a 5Hz update. This relies on the way
// that uBlox gives timestamps that are always
// multiples of 200 for 5Hz
_last_5hz_time = state.last_gps_time_ms;
}
state.time_week_ms = _buffer.solution.time;
state.time_week = _buffer.solution.week;
}
@ -977,17 +967,6 @@ AP_GPS_UBLOX::_parse_gps(void)
// this ensures we don't use stale data
if (_new_position && _new_speed && _last_vel_time == _last_pos_time) {
_new_speed = _new_position = false;
// allow the GPS configuration to run through the full loop at least once before throwing this
if (state.status != AP_GPS::NO_FIX && AP_HAL::millis() - _last_5hz_time > 20000U) {
// the gps seems to be slow, possibly due to a brown out
// invalidate the config so it can be reset
_last_5hz_time = AP_HAL::millis();
_unconfigured_messages = CONFIG_ALL;
_request_next_config();
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,
"GPS: u-blox %d is not maintaining a 5Hz update",
state.instance);
}
return true;
}
return false;
@ -1074,15 +1053,6 @@ AP_GPS_UBLOX::_configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t
return true;
}
/*
* request the current naviation solution rate
*/
void
AP_GPS_UBLOX::_request_navigation_rate(void)
{
_send_message(CLASS_CFG, MSG_CFG_RATE, 0, 0);
}
/*
* save gps configurations to non-volatile memory sent until the call of
* this message

3
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -506,8 +506,6 @@ private:
// used to update fix between status and position packets
AP_GPS::GPS_Status next_fix;
uint32_t _last_5hz_time;
bool _cfg_needs_save;
bool noReceivedHdop;
@ -519,7 +517,6 @@ private:
void _send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint16_t size);
void send_next_rate_update(void);
bool _request_message_rate(uint8_t msg_class, uint8_t msg_id);
void _request_navigation_rate(void);
void _request_next_config(void);
void _request_port(void);
void _request_version(void);