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

GPS: added debug code to the main GPS class

This commit is contained in:
Andrew Tridgell 2012-06-08 16:40:59 +10:00
parent f4718cafad
commit 9adaacedcd
1 changed files with 18 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
libraries/AP_GPS/GPS.cpp
View File

@ -1,5 +1,16 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#include <FastSerial.h>
#define GPS_DEBUGGING 1
#if GPS_DEBUGGING
#include <FastSerial.h>
# define Debug(fmt, args...) do {Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args); delay(0); } while(0)
#else
# define Debug(fmt, args...)
#endif
#include "GPS.h"
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
@ -11,18 +22,22 @@ void
GPS::update(void)
{
bool result;
uint32_t tnow;
// call the GPS driver to process incoming data
result = read();
tnow = millis();
// if we did not get a message, and the idle timer has expired, re-init
if (!result) {
if ((millis() - _idleTimer) > idleTimeout) {
if ((tnow - _idleTimer) > idleTimeout) {
Debug("gps read timeout %lu %lu", (unsigned long)tnow, (unsigned long)_idleTimer);
_status = NO_GPS;
init();
// reset the idle timer
_idleTimer = millis();
_idleTimer = tnow;
}
} else {
// we got a message, update our status correspondingly
@ -32,7 +47,7 @@ GPS::update(void)
new_data = true;
// reset the idle timer
_idleTimer = millis();
_idleTimer = tnow;
if (_status == GPS_OK) {
// update our acceleration