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AP_GPS: Improve startup logic for detecting what gps is connected

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Remove race condition on sending intial blob to the GPS, it was possible to send a blob that got the GPS configured enough to allow the autodetect to take over (and then some drivers like ublox would not finish sending the blob, which has potential details that the driver might have needed to send)

Limit the delay to checking for NMEA gps to only checking after all the available baud rates have been checked

Since a UBlox will actually report having DGPS (due to SBAS or RTCM data) actually report this as the highest supported mode
This commit is contained in:
Michael du Breuil 2015-07-14 00:07:29 -07:00 committed by Andrew Tridgell
parent 9a79baef59
commit 19bb96b9cb
3 changed files with 8 additions and 3 deletions
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7
libraries/AP_GPS/AP_GPS.cpp
View File

@ -203,7 +203,7 @@ AP_GPS::detect_instance(uint8_t instance)
dstate->detect_started_ms = now;
}
if (now - dstate->last_baud_change_ms > 1200) {
if (now - dstate->last_baud_change_ms > GPS_BAUD_TIME_MS) {
// try the next baud rate
dstate->last_baud++;
if (dstate->last_baud == ARRAY_SIZE(_baudrates)) {
@ -218,7 +218,8 @@ AP_GPS::detect_instance(uint8_t instance)
send_blob_update(instance);
while (_port[instance]->available() > 0 && new_gps == NULL) {
while (initblob_state[instance].remaining == 0 && _port[instance]->available() > 0
&& new_gps == NULL) {
uint8_t data = _port[instance]->read();
/*
running a uBlox at less than 38400 will lead to packet
@ -257,7 +258,7 @@ AP_GPS::detect_instance(uint8_t instance)
hal.console->print_P(PSTR(" SIRF "));
new_gps = new AP_GPS_SIRF(*this, state[instance], _port[instance]);
}
else if (now - dstate->detect_started_ms > 5000) {
else if (now - dstate->detect_started_ms > (ARRAY_SIZE(_baudrates) * GPS_BAUD_TIME_MS)) {
// prevent false detection of NMEA mode in
// a MTK or UBLOX which has booted in NMEA mode
if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_NMEA) &&

2
libraries/AP_GPS/AP_GPS.h
View File

@ -412,6 +412,8 @@ private:
void update_instance(uint8_t instance);
};
#define GPS_BAUD_TIME_MS 1200
#include <GPS_Backend.h>
#include <AP_GPS_UBLOX.h>
#include <AP_GPS_MTK.h>

2
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -56,6 +56,8 @@ public:
// Methods
bool read();
AP_GPS::GPS_Status highest_supported_status(void) { return AP_GPS::GPS_OK_FIX_3D_DGPS; }
static bool _detect(struct UBLOX_detect_state &state, uint8_t data);
private: