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AP_GPS: ublox support user controlled rate updates 

Also corrects accepting bad nav rates as configured, and fixes a incorrect
index as to which GPS is being updated
This commit is contained in:
Michael du Breuil 2016-10-01 00:42:47 -07:00 committed by Andrew Tridgell
parent 86c2b1d84a
commit cf5e79f80e
4 changed files with 23 additions and 5 deletions
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14
libraries/AP_GPS/AP_GPS.cpp
View File

@ -140,6 +140,20 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @User: Advanced
AP_GROUPINFO("AUTO_CONFIG", 13, AP_GPS, _auto_config, 1),
// @Param: RATE_MS
// @DisplayName: GPS update rate in milliseconds
// @Description: Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed
// @Values: 100:10Hz,125:8Hz,200:5Hz
// @User: Advanced
AP_GROUPINFO("RATE_MS", 14, AP_GPS, _rate_ms[0], 200),
// @Param: RATE_MS2
// @DisplayName: GPS 2 update rate in milliseconds
// @Description: Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed
// @Values: 100:10Hz,125:8Hz,200:5Hz
// @User: Advanced
AP_GROUPINFO("RATE_MS2", 15, AP_GPS, _rate_ms[1], 200),
AP_GROUPEND
};

1
libraries/AP_GPS/AP_GPS.h
View File

@ -338,6 +338,7 @@ public:
AP_Int8 _min_elevation;
AP_Int8 _raw_data;
AP_Int8 _gnss_mode[2];
AP_Int16 _rate_ms[2];
AP_Int8 _save_config;
AP_Int8 _auto_config;

11
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -608,7 +608,9 @@ AP_GPS_UBLOX::_parse_gps(void)
_unconfigured_messages &= ~CONFIG_NAV_SETTINGS;
break;
case MSG_CFG_RATE:
_unconfigured_messages &= ~CONFIG_RATE_NAV;
// The GPS will ACK a update rate that is invalid. in order to detect this
// only accept the rate as configured by reading the settings back and
// validating that they all match the target values
break;
case MSG_CFG_SBAS:
_unconfigured_messages &= ~CONFIG_SBAS;
@ -760,7 +762,7 @@ AP_GPS_UBLOX::_parse_gps(void)
_ublox_port = _buffer.prt.portID;
return false;
case MSG_CFG_RATE:
if(_buffer.nav_rate.measure_rate_ms != MEASURE_RATE ||
if(_buffer.nav_rate.measure_rate_ms != gps._rate_ms[state.instance] ||
_buffer.nav_rate.nav_rate != 1 ||
_buffer.nav_rate.timeref != 0) {
_configure_rate();
@ -1069,7 +1071,7 @@ AP_GPS_UBLOX::_save_cfg()
_num_cfg_save_tries++;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO,
"GPS: u-blox %d saving config",
state.instance);
state.instance + 1);
}
/*
@ -1144,7 +1146,8 @@ void
AP_GPS_UBLOX::_configure_rate(void)
{
struct ubx_cfg_nav_rate msg;
msg.measure_rate_ms = MEASURE_RATE;
// require a minimum measurement rate of 5Hz
msg.measure_rate_ms = MIN(gps._rate_ms[state.instance], MINIMUM_MEASURE_RATE_MS);
msg.nav_rate = 1;
msg.timeref = 0; // UTC time
_send_message(CLASS_CFG, MSG_CFG_RATE, &msg, sizeof(msg));

2
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -49,7 +49,7 @@
#define UBX_MSG_TYPES 2
#define UBLOX_MAX_PORTS 6
#define MEASURE_RATE 200
#define MINIMUM_MEASURE_RATE_MS 200
#define RATE_POSLLH 1
#define RATE_STATUS 1