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AP_GPS: move explanation of ublox rates into ublox header

This commit is contained in:
Peter Barker 2022-07-22 09:54:14 +10:00 committed by Andrew Tridgell
parent 55658985cc
commit 96b4945eb9
2 changed files with 6 additions and 7 deletions
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7
libraries/AP_GPS/AP_GPS.cpp
View File

@ -753,13 +753,6 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance)
while (bytecount-- > 0) { while (bytecount-- > 0) {
uint8_t data = _port[instance]->read(); uint8_t data = _port[instance]->read();
/*
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 230400 no matter what rate it is configured
for.
*/
#if AP_GPS_UBLOX_ENABLED #if AP_GPS_UBLOX_ENABLED
if ((_type[instance] == GPS_TYPE_AUTO || if ((_type[instance] == GPS_TYPE_AUTO ||

6
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -38,6 +38,12 @@
* The reason we need the NAV_SOL rate message at all is some uBlox * The reason we need the NAV_SOL rate message at all is some uBlox
* modules are configured with all ubx binary messages off, which * modules are configured with all ubx binary messages off, which
* would mean we would never detect it. * would mean we would never detect it.
* 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 230400 no matter what rate it is configured
* for.
*/ */
#define UBLOX_SET_BINARY_115200 "\265\142\006\001\003\000\001\006\001\022\117$PUBX,41,1,0023,0001,115200,0*1C\r\n" #define UBLOX_SET_BINARY_115200 "\265\142\006\001\003\000\001\006\001\022\117$PUBX,41,1,0023,0001,115200,0*1C\r\n"