Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: tidy initialisation of sending blobs

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

45
libraries/AP_GPS/AP_GPS.cpp
View File

@ -554,29 +554,38 @@ 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 ||
_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
// more bandwidth. We don't do this if using UART2, as
// in that case the RTCMv3 data doesn't go over the
// link to the flight controller
static const char blob[] = UBLOX_SET_BINARY_460800;
send_blob_start(instance, blob, sizeof(blob));
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));
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
// more bandwidth. We don't do this if using UART2, as
// in that case the RTCMv3 data doesn't go over the
// link to the flight controller
static const char blob[] = UBLOX_SET_BINARY_460800;
send_blob_start(instance, blob, sizeof(blob));
return;
}
#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));
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
} else {
send_blob_start(instance, _initialisation_blob, sizeof(_initialisation_blob));
}
send_blob_start(instance, _initialisation_blob, sizeof(_initialisation_blob));
}
/*