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AP_HAL_SITL: allow auto-baudrate detection in GPS driver in SITL

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this is useful when testing a real GPS in SITL
This commit is contained in:
Andrew Tridgell 2016-02-10 09:37:37 +11:00
parent 9500dc6b77
commit cb60384dc4
2 changed files with 7 additions and 3 deletions
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2
libraries/AP_HAL_SITL/UARTDriver.cpp
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@ -84,7 +84,7 @@ void UARTDriver::begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
uint16_t port = atoi(args2);
_tcp_start_client(args1, port);
} else if (strcmp(devtype, "uart") == 0) {
uint32_t baudrate = args2? atoi(args2) : 57600;
uint32_t baudrate = args2? atoi(args2) : baud;
::printf("UART connection %s:%u\n", args1, baudrate);
_uart_start_connection(args1, baudrate);
} else {

8
libraries/AP_HAL_SITL/sitl_gps.cpp
View File

@ -113,9 +113,13 @@ void SITL_State::_gps_write(const uint8_t *p, uint16_t size)
continue;
}
}
write(gps_state.gps_fd, p, 1);
if (gps_state.gps_fd != 0) {
write(gps_state.gps_fd, p, 1);
}
if (_sitl->gps2_enable) {
write(gps2_state.gps_fd, p, 1);
if (gps2_state.gps_fd != 0) {
write(gps2_state.gps_fd, p, 1);
}
}
p++;
}