mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
3cdeffa372
- disable NMEA autodetection; false positives are still a risk - trim down the console output to a minimum; we still need something to help users diagnose potential problems, but the old output was much too verbose - rather than block forever, only do one autodetect pass for each ::read call. That's still too long (five seconds or so) but better than blocking forever. - don't block forever if no GPS is attached. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1480 f9c3cf11-9bcb-44bc-f272-b75c42450872
52 lines
1.2 KiB
C++
52 lines
1.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// Auto-detecting pseudo-GPS driver
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//
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#ifndef AP_GPS_Auto_h
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#define AP_GPS_Auto_h
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#include <FastSerial.h>
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#include <GPS.h>
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class AP_GPS_Auto : public GPS
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{
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public:
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/// Constructor
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///
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/// @note The stream is expected to be set up and configured for the
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/// correct bitrate before ::init is called.
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///
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/// @param port Stream connected to the GPS module.
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/// @param ptr Pointer to a GPS * that will be fixed up by ::init
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/// when the GPS type has been detected.
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///
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AP_GPS_Auto(FastSerial *s, GPS **gps);
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/// Dummy init routine, does nothing
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virtual void init(void);
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/// Detect and initialise the attached GPS unit. Updates the
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/// pointer passed into the constructor when a GPS is detected.
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///
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virtual bool read(void);
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private:
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/// Copy of the port, known at construction time to be a real FastSerial port.
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FastSerial *_fs;
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/// global GPS driver pointer, updated by auto-detection
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///
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GPS **_gps;
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/// low-level auto-detect routine
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///
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GPS *_detect(void);
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static const prog_char _mtk_set_binary[];
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static const prog_char _ublox_set_binary[];
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static const prog_char _sirf_set_binary[];
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};
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#endif
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