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AP_GPS_UBLOX: ask for nav settings every 20 seconds

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this ensures we don't run with the wrong nav settings on a uBlox if
we get a bad checksum on the initial nav settings message
This commit is contained in:
Andrew Tridgell 2012-11-05 14:31:29 +11:00
parent 72e97c6dfc
commit 984b1086cb
2 changed files with 14 additions and 0 deletions
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10
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -39,6 +39,8 @@ AP_GPS_UBLOX::init(enum GPS_Engine_Setting nav_setting)
// XXX it might make sense to send some CFG_MSG,CFG_NMEA messages to get the // XXX it might make sense to send some CFG_MSG,CFG_NMEA messages to get the
// right reporting configuration. // right reporting configuration.
Debug("uBlox nav_setting=%u\n", nav_setting);
_port->flush(); _port->flush();
_epoch = TIME_OF_WEEK; _epoch = TIME_OF_WEEK;
@ -180,6 +182,7 @@ AP_GPS_UBLOX::_parse_gps(void)
} }
if (_class == CLASS_CFG && _msg_id == MSG_CFG_NAV_SETTINGS) { if (_class == CLASS_CFG && _msg_id == MSG_CFG_NAV_SETTINGS) {
Debug("Got engine settings %u\n", (unsigned)_buffer.nav_settings.dynModel);
if (_nav_setting != GPS_ENGINE_NONE && if (_nav_setting != GPS_ENGINE_NONE &&
_buffer.nav_settings.dynModel != _nav_setting) { _buffer.nav_settings.dynModel != _nav_setting) {
// we've received the current nav settings, change the engine // we've received the current nav settings, change the engine
@ -261,6 +264,12 @@ AP_GPS_UBLOX::_parse_gps(void)
// this ensures we don't use stale data // this ensures we don't use stale data
if (_new_position && _new_speed) { if (_new_position && _new_speed) {
_new_speed = _new_position = false; _new_speed = _new_position = false;
_fix_count++;
if (_fix_count == 100) {
// ask for nav settings every 20 seconds
Debug("Asking for engine setting\n");
_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS, NULL, 0);
}
return true; return true;
} }
return false; return false;
@ -353,6 +362,7 @@ AP_GPS_UBLOX::_configure_gps(void)
_configure_message_rate(CLASS_NAV, MSG_VELNED, 1); _configure_message_rate(CLASS_NAV, MSG_VELNED, 1);
// ask for the current navigation settings // ask for the current navigation settings
Debug("Asking for engine setting\n");
_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS, NULL, 0); _send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS, NULL, 0);
} }

4
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -164,6 +164,10 @@ private:
uint16_t _payload_length; uint16_t _payload_length;
uint16_t _payload_counter; uint16_t _payload_counter;
// 8 bit count of fix messages processed, used for periodic
// processing
uint8_t _fix_count;
uint8_t _class; uint8_t _class;
// do we have new position information? // do we have new position information?