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AP_GPS: do initial probe at default baudrate

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this makes for much faster probe for most users
This commit is contained in:
Andrew Tridgell 2024-02-28 14:46:10 +11:00
parent 6f4ab028ca
commit d894f7ac5d
3 changed files with 11 additions and 6 deletions
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14
libraries/AP_GPS/AP_GPS.cpp
View File

@ -770,11 +770,15 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance)
// try the next baud rate // try the next baud rate
// incrementing like this will skip the first element in array of bauds // incrementing like this will skip the first element in array of bauds
// this is okay, and relied upon // this is okay, and relied upon
dstate->current_baud++; if (dstate->probe_baud == 0) {
if (dstate->current_baud == ARRAY_SIZE(_baudrates)) { dstate->probe_baud = _port[instance]->get_baud_rate();
dstate->current_baud = 0; } else {
dstate->current_baud++;
if (dstate->current_baud == ARRAY_SIZE(_baudrates)) {
dstate->current_baud = 0;
}
dstate->probe_baud = _baudrates[dstate->current_baud];
} }
uint32_t baudrate = _baudrates[dstate->current_baud];
uint16_t rx_size=0, tx_size=0; uint16_t rx_size=0, tx_size=0;
if (_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) { if (_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) {
tx_size = 2048; tx_size = 2048;
@ -782,7 +786,7 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance)
if (_type[instance] == GPS_TYPE_UBLOX_RTK_BASE) { if (_type[instance] == GPS_TYPE_UBLOX_RTK_BASE) {
rx_size = 2048; rx_size = 2048;
} }
_port[instance]->begin(baudrate, rx_size, tx_size); _port[instance]->begin(dstate->probe_baud, rx_size, tx_size);
_port[instance]->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); _port[instance]->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
dstate->last_baud_change_ms = now; dstate->last_baud_change_ms = now;

1
libraries/AP_GPS/AP_GPS.h
View File

@ -677,6 +677,7 @@ private:
struct detect_state { struct detect_state {
uint32_t last_baud_change_ms; uint32_t last_baud_change_ms;
uint8_t current_baud; uint8_t current_baud;
uint32_t probe_baud;
bool auto_detected_baud; bool auto_detected_baud;
struct UBLOX_detect_state ublox_detect_state; struct UBLOX_detect_state ublox_detect_state;
struct SIRF_detect_state sirf_detect_state; struct SIRF_detect_state sirf_detect_state;

2
libraries/AP_GPS/GPS_Backend.cpp
View File

@ -139,7 +139,7 @@ void AP_GPS_Backend::_detection_message(char *buffer, const uint8_t buflen) cons
"GPS %d: probing for %s at %d baud", "GPS %d: probing for %s at %d baud",
instance + 1, instance + 1,
name(), name(),
int(gps._baudrates[dstate.current_baud])); int(dstate.probe_baud));
} else { } else {
hal.util->snprintf(buffer, buflen, hal.util->snprintf(buffer, buflen,
"GPS %d: specified as %s", "GPS %d: specified as %s",