aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_GPS: correct logging in dual-ublox setups

Browse Source
This commit is contained in:
Peter Barker 2020-11-10 16:19:37 +11:00 committed by Peter Barker
parent 00cfc1932f
commit 428c9ef0e1
2 changed files with 2 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -705,7 +705,7 @@ void AP_GPS_UBLOX::log_mon_hw(void)
return;
}
struct log_Ubx1 pkt = {
LOG_PACKET_HEADER_INIT(_ubx_msg_log_index(LOG_GPS_UBX1_MSG)),
LOG_PACKET_HEADER_INIT(LOG_GPS_UBX1_MSG),
time_us : AP_HAL::micros64(),
instance : state.instance,
noisePerMS : _buffer.mon_hw_60.noisePerMS,
@ -732,7 +732,7 @@ void AP_GPS_UBLOX::log_mon_hw2(void)
}
struct log_Ubx2 pkt = {
LOG_PACKET_HEADER_INIT(_ubx_msg_log_index(LOG_GPS_UBX2_MSG)),
LOG_PACKET_HEADER_INIT(LOG_GPS_UBX2_MSG),
time_us : AP_HAL::micros64(),
instance : state.instance,
ofsI : _buffer.mon_hw2.ofsI,

6
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -51,7 +51,6 @@
#define UBLOX_GNSS_SETTINGS 1
#define UBLOX_MAX_GNSS_CONFIG_BLOCKS 7
#define UBX_MSG_TYPES 2
#define UBX_TIMEGPS_VALID_WEEK_MASK 0x2
@ -732,11 +731,6 @@ private:
void log_rxm_raw(const struct ubx_rxm_raw &raw);
void log_rxm_rawx(const struct ubx_rxm_rawx &raw);
// Calculates the correct log message ID based on what GPS instance is being logged
uint8_t _ubx_msg_log_index(uint8_t ubx_msg) {
return (uint8_t)(ubx_msg + (state.instance * UBX_MSG_TYPES));
}
#if GPS_MOVING_BASELINE
// see if we should use uart2 for moving baseline config
bool mb_use_uart2(void) const {