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AP_GPS: tidy initialisation of sending blobs

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This commit is contained in:
Peter Barker 2022-04-10 10:44:42 +10:00 committed by Andrew Tridgell
parent 4b6590734a
commit aa72559d00
1 changed files with 27 additions and 18 deletions
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25
libraries/AP_GPS/AP_GPS.cpp
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@ -554,14 +554,19 @@ void AP_GPS::send_blob_start(uint8_t instance, const char *_blob, uint16_t size)
}
/*
initialise state for sending binary blob initialisation strings
initialise state for sending binary blob initialisation strings. We
may choose different blobs not just based on type but also based on
parameters.
*/
void AP_GPS::send_blob_start(uint8_t instance)
{
if (_type[instance] == GPS_TYPE_UBLOX && (_driver_options & AP_GPS_Backend::DriverOptions::UBX_Use115200)) {
static const char blob[] = UBLOX_SET_BINARY_115200;
send_blob_start(instance, blob, sizeof(blob));
} else if ((_type[instance] == GPS_TYPE_UBLOX_RTK_BASE ||
return;
}
if ((_type[instance] == GPS_TYPE_UBLOX_RTK_BASE ||
_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) &&
((_driver_options.get() & AP_GPS_Backend::DriverOptions::UBX_MBUseUart2) == 0)) {
// we use 460800 when doing moving baseline as we need
@ -570,13 +575,17 @@ void AP_GPS::send_blob_start(uint8_t instance)
// link to the flight controller
static const char blob[] = UBLOX_SET_BINARY_460800;
send_blob_start(instance, blob, sizeof(blob));
#if AP_GPS_NMEA_ENABLED
} else if (_type[instance] == GPS_TYPE_HEMI) {
send_blob_start(instance, AP_GPS_NMEA_HEMISPHERE_INIT_STRING, strlen(AP_GPS_NMEA_HEMISPHERE_INIT_STRING));
#endif // AP_GPS_NMEA_ENABLED
} else {
send_blob_start(instance, _initialisation_blob, sizeof(_initialisation_blob));
return;
}
#if AP_GPS_NMEA_ENABLED
if (_type[instance] == GPS_TYPE_HEMI) {
send_blob_start(instance, AP_GPS_NMEA_HEMISPHERE_INIT_STRING, strlen(AP_GPS_NMEA_HEMISPHERE_INIT_STRING));
return;
}
#endif // AP_GPS_NMEA_ENABLED
send_blob_start(instance, _initialisation_blob, sizeof(_initialisation_blob));
}
/*