AP_GPS libs now recover from disconnect or failed initialization.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1188 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_GPS/AP_GPS_Auto.cpp

@@ -21,7 +21,7 @@ AP_GPS_Auto::init(void)
 // We detect the real GPS, then update the pointer we have been called through
 // and return.
 void
-AP_GPS_Auto::update(void)
+AP_GPS_Auto::read(void)
 {
 	GPS		*gps;
 	int		i;

libraries/AP_GPS/AP_GPS_Auto.h

@@ -31,7 +31,7 @@ public:
 	/// Detect and initialise the attached GPS unit.  Returns a
 	/// pointer to the allocated & initialised GPS driver.
 	///
-	void		update(void);
+	void		read(void);
 
 private:
 	/// Serial port connected to the GPS.

libraries/AP_GPS/AP_GPS_HIL.cpp

@@ -24,7 +24,7 @@ void AP_GPS_HIL::init(void)
 {	
 }
 
-void AP_GPS_HIL::update(void)
+void AP_GPS_HIL::read(void)
 {
 }
 

libraries/AP_GPS/AP_GPS_HIL.h

@@ -18,7 +18,7 @@ class AP_GPS_HIL : public GPS {
 public:
 	AP_GPS_HIL(Stream *s);
 	void init(void);
-	void update(void);
+	void read(void);
     int status(void);
     /**
      * Hardware in the loop set function

libraries/AP_GPS/AP_GPS_MTK.cpp

@@ -22,6 +22,7 @@ AP_GPS_MTK::AP_GPS_MTK(Stream *s) : GPS(s)
 // Public Methods //////////////////////////////////////////////////////////////
 void AP_GPS_MTK::init(void)
 {	
+	delay(1000);
 	_port->flush();
 	// initialize serial port for binary protocol use
 	// XXX should assume binary, let GPS_AUTO handle dynamic config?
@@ -42,7 +43,7 @@ void AP_GPS_MTK::init(void)
 // The lack of a standard header length field makes it impossible to skip
 // unrecognised messages.
 //
-void AP_GPS_MTK::update(void)
+void AP_GPS_MTK::read(void)
 {
 	byte data;
 	int numc;

libraries/AP_GPS/AP_GPS_MTK.h

@@ -37,7 +37,7 @@ class AP_GPS_MTK : public GPS {
 public:
 	AP_GPS_MTK(Stream *s);
 	virtual void	init(void);
-	virtual void	update(void);
+	virtual void	read(void);
 
 private:
 #pragma pack(1)

libraries/AP_GPS/AP_GPS_NMEA.cpp

@@ -18,7 +18,7 @@
 		
 	Methods:
 		init() : GPS Initialization
-		update() : Call this funcion as often as you want to ensure you read the incomming gps data
+		read() : Call this funcion as often as you want to ensure you read the incomming gps data
 		
 	Properties:
 		latitude : latitude * 10000000 (long value)
@@ -63,7 +63,7 @@ AP_GPS_NMEA::init(void)
 // We can call this function on the main loop (50Hz loop)
 // If we get a complete packet this function call parse_nmea_gps() to parse and update the GPS info.
 void
-AP_GPS_NMEA::update(void)
+AP_GPS_NMEA::read(void)
 {
 	char c;
 	int numc;

libraries/AP_GPS/AP_GPS_NMEA.h

@@ -37,7 +37,7 @@ class AP_GPS_NMEA : public GPS
     // Methods
 	AP_GPS_NMEA(Stream *s);
 	void init();
-	void update();
+	void read();
 
 	// Properties
 	uint8_t quality;    // GPS Signal quality

libraries/AP_GPS/AP_GPS_SIRF.cpp

@@ -50,7 +50,7 @@ void AP_GPS_SIRF::init(void)
 // re-processing it from the top, this is unavoidable. The parser
 // attempts to avoid this when possible.
 //
-void AP_GPS_SIRF::update(void)
+void AP_GPS_SIRF::read(void)
 {
 	byte data;
 	int numc;

libraries/AP_GPS/AP_GPS_SIRF.h

@@ -20,7 +20,7 @@ public:
 	AP_GPS_SIRF(Stream *s);
 
 	virtual void   	init();
-	virtual void	update();
+	virtual void	read();
 
 private:
 #pragma pack(1)

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -37,7 +37,7 @@ void AP_GPS_UBLOX::init(void)
 // re-processing it from the top, this is unavoidable. The parser
 // attempts to avoid this when possible.
 //
-void AP_GPS_UBLOX::update(void)
+void AP_GPS_UBLOX::read(void)
 {
 	byte data;
 	int numc;

libraries/AP_GPS/AP_GPS_UBLOX.h

@@ -21,7 +21,7 @@ public:
     // Methods
 	AP_GPS_UBLOX(Stream *s = NULL);
 	void		init(void);
-	void		update();
+	void		read();
 
 private:
 	// u-blox UBX protocol essentials

libraries/AP_GPS/GPS.cpp

@@ -20,3 +20,18 @@ GPS::_setTime(void)
 {
 	_lastTime = millis();
 }
+
+void
+GPS::update(void)
+{
+	if (!status())
+	{
+		Serial.println("Reinitializing GPS");
+		init();
+		_setTime();
+	}
+	else
+	{
+		read();
+	}
+}

libraries/AP_GPS/GPS.h

@@ -44,7 +44,10 @@ public:
 	///
 	/// Must be implemented by the GPS driver.
 	///
-	virtual void	update(void) = 0;
+	void	update(void);
+
+	/// Implement specific routines for gps to receive a message. 
+	virtual void	read(void) = 0;
 
 	/// Query GPS status
 	///