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GPS_UBLOX: fixed auto-config of baudrate

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this fixes the setting of the baudrate on a uBlox that is configured
for 9600. It fixes the NMEA message to have a \r\n, plus sends the
NAV_SOL rate config before the NMEA baudrate config message.

This fixes issue #159
This commit is contained in:
Andrew Tridgell 2013-03-17 17:52:29 +11:00
parent fdcb78ccf7
commit 551950c573
4 changed files with 26 additions and 9 deletions
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13
libraries/AP_GPS/AP_GPS_Auto.cpp
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@ -49,7 +49,9 @@ AP_GPS_Auto::read(void)
if (now - last_baud_change_ms > 1200) {
// its been more than 1.2 seconds without detection on this
// GPS - switch to another baud rate
_port->begin(pgm_read_dword(&baudrates[last_baud]), 256, 16);
_baudrate = pgm_read_dword(&baudrates[last_baud]);
//hal.console->printf_P(PSTR("Setting GPS baudrate %u\n"), (unsigned)_baudrate);
_port->begin(_baudrate, 256, 16);
last_baud++;
last_baud_change_ms = now;
if (last_baud == sizeof(baudrates) / sizeof(baudrates[0])) {
@ -88,7 +90,14 @@ AP_GPS_Auto::_detect(void)
while (_port->available() > 0 && new_gps == NULL) {
uint8_t data = _port->read();
if (AP_GPS_UBLOX::_detect(data)) {
/*
running a uBlox at less than 38400 will lead to packet
corruption, as we can't receive the packets in the 200ms
window for 5Hz fixes. The NMEA startup message should force
the uBlox into 38400 no matter what rate it is configured
for.
*/
if (_baudrate >= 38400 && AP_GPS_UBLOX::_detect(data)) {
hal.console->print_P(PSTR(" ublox "));
new_gps = new AP_GPS_UBLOX();
}

18
libraries/AP_GPS/AP_GPS_UBLOX.h
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@ -15,14 +15,18 @@
#include "GPS.h"
/*
* try to put a UBlox into binary mode. This is in two parts. First we
* send a PUBX asking the UBlox to receive NMEA and UBX, and send UBX,
* with a baudrate of 38400. Then we send a UBX message setting rate 1
* for the NAV_SOL message. The setup of NAV_SOL is to cope with
* configurations where all UBX binary message types are disabled.
* try to put a UBlox into binary mode. This is in two parts.
*
* First we send a ubx binary message that enables the NAV_SOL message
* at rate 1. Then we send a NMEA message to set the baud rate to our
* desired rate. The reason for doing the NMEA message second is if we
* send it first the second message will be ignored for a baud rate
* change.
* The reason we need the NAV_SOL rate message at all is some uBlox
* modules are configured with all ubx binary messages off, which
* would mean we would never detect it.
*/
#define UBLOX_SET_BINARY "$PUBX,41,1,0003,0001,38400,0*26\n\265\142\006\001\003\000\001\006\001\022\117"
#define UBLOX_SET_BINARY "\265\142\006\001\003\000\001\006\001\022\117$PUBX,41,1,0003,0001,38400,0*26\r\n"
class AP_GPS_UBLOX : public GPS
{

1
libraries/AP_GPS/GPS.cpp
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@ -160,6 +160,7 @@ void GPS::_update_progstr(void)
if (nbytes > 16) {
nbytes = 16;
}
//hal.console->printf_P(PSTR("writing %u bytes\n"), (unsigned)nbytes);
_write_progstr_block(progstr_state.fs, q->pstr+q->ofs, nbytes);
q->ofs += nbytes;
if (q->ofs == q->size) {

3
libraries/AP_GPS/GPS.h
View File

@ -206,6 +206,9 @@ protected:
// does this GPS support raw velocity numbers?
bool _have_raw_velocity;
// detected baudrate
uint16_t _baudrate;
private: