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AP_GPS: faster config of moving baseline

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thanks to MdB for suggestion
This commit is contained in:
Andrew Tridgell 2019-12-23 09:33:59 +11:00
parent cebd8cf9db
commit e40c570615
2 changed files with 5 additions and 10 deletions
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13
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -97,6 +97,10 @@ AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UART
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "u-blox %d: failed RTCMv3 parser allocation", state.instance + 1);
}
}
if (role == AP_GPS::GPS_ROLE_MB_BASE ||
role == AP_GPS::GPS_ROLE_MB_ROVER) {
_unconfigured_messages |= CONFIG_RTK_MOVBASE;
}
}
AP_GPS_UBLOX::~AP_GPS_UBLOX()
@ -1173,15 +1177,6 @@ AP_GPS_UBLOX::_parse_gps(void)
if (_hardware_generation != UBLOX_F9) {
// need to ensure time mode is correctly setup on F9
_unconfigured_messages |= CONFIG_TMODE_MODE;
// see if RTK moving baseline base is wanted
if (role == AP_GPS::GPS_ROLE_MB_BASE) {
_unconfigured_messages |= CONFIG_RTK_MOVBASE;
}
// see if RTK moving baseline rover is wanted
if (role == AP_GPS::GPS_ROLE_MB_ROVER) {
_unconfigured_messages |= CONFIG_RTK_MOVBASE;
}
}
_hardware_generation = UBLOX_F9;
}

2
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -646,13 +646,13 @@ private:
STEP_POLL_GNSS, // poll GNSS
STEP_POLL_TP5, // poll TP5
STEP_TMODE, // set TMODE-MODE
STEP_RTK_MOVBASE, // setup moving baseline
STEP_DOP,
STEP_MON_HW,
STEP_MON_HW2,
STEP_RAW,
STEP_RAWX,
STEP_VERSION,
STEP_RTK_MOVBASE, // setup moving baseline
STEP_LAST
};