dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

ubx: disable all debug messages

This commit is contained in:
Anton Babushkin 2014-05-30 21:23:26 +02:00
parent 90d8f7726d
commit 47c9d32620
1 changed files with 85 additions and 85 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

170
src/drivers/gps/ubx.cpp
View File

@ -219,19 +219,19 @@ UBX::configure(unsigned &baudrate)
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("MSG CFG FAIL: NAV SVINFO");
return 1;
}
configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("MSG CFG FAIL: MON HW");
return 1;
}
// configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5);
//
// if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
// warnx("MSG CFG FAIL: NAV SVINFO");
// return 1;
// }
//
// configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1);
//
// if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
// warnx("MSG CFG FAIL: MON HW");
// return 1;
// }
_configured = true;
return 0;
@ -486,61 +486,61 @@ UBX::handle_message()
break;
}
case UBX_MESSAGE_NAV_SVINFO: {
//printf("GOT NAV_SVINFO\n");
const int length_part1 = 8;
gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer;
const int length_part2 = 12;
gps_bin_nav_svinfo_part2_packet_t *packet_part2;
uint8_t satellites_used = 0;
int i;
//printf("Number of Channels: %d\n", packet_part1->numCh);
for (i = 0; i < packet_part1->numCh; i++) {
/* set pointer to sattelite_i information */
packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) & (_rx_buffer[length_part1 + i * length_part2]);
/* write satellite information to global storage */
uint8_t sv_used = packet_part2->flags & 0x01;
if (sv_used) {
/* count SVs used for NAV */
satellites_used++;
}
/* record info for all channels, whether or not the SV is used for NAV */
_gps_position->satellite_used[i] = sv_used;
_gps_position->satellite_snr[i] = packet_part2->cno;
_gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
_gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
_gps_position->satellite_prn[i] = packet_part2->svid;
//printf("SAT %d: %d %d %d %d\n", i, (int)sv_used, (int)packet_part2->cno, (int)(uint8_t)(packet_part2->elev), (int)packet_part2->svid);
}
for (i = packet_part1->numCh; i < 20; i++) {
/* unused channels have to be set to zero for e.g. MAVLink */
_gps_position->satellite_prn[i] = 0;
_gps_position->satellite_used[i] = 0;
_gps_position->satellite_snr[i] = 0;
_gps_position->satellite_elevation[i] = 0;
_gps_position->satellite_azimuth[i] = 0;
}
_gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones
if (packet_part1->numCh > 0) {
_gps_position->satellite_info_available = true;
} else {
_gps_position->satellite_info_available = false;
}
_gps_position->timestamp_satellites = hrt_absolute_time();
ret = 1;
break;
}
// case UBX_MESSAGE_NAV_SVINFO: {
// //printf("GOT NAV_SVINFO\n");
// const int length_part1 = 8;
// gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer;
// const int length_part2 = 12;
// gps_bin_nav_svinfo_part2_packet_t *packet_part2;
//
// uint8_t satellites_used = 0;
// int i;
//
// //printf("Number of Channels: %d\n", packet_part1->numCh);
// for (i = 0; i < packet_part1->numCh; i++) {
// /* set pointer to sattelite_i information */
// packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) & (_rx_buffer[length_part1 + i * length_part2]);
//
// /* write satellite information to global storage */
// uint8_t sv_used = packet_part2->flags & 0x01;
//
// if (sv_used) {
// /* count SVs used for NAV */
// satellites_used++;
// }
//
// /* record info for all channels, whether or not the SV is used for NAV */
// _gps_position->satellite_used[i] = sv_used;
// _gps_position->satellite_snr[i] = packet_part2->cno;
// _gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
// _gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
// _gps_position->satellite_prn[i] = packet_part2->svid;
// //printf("SAT %d: %d %d %d %d\n", i, (int)sv_used, (int)packet_part2->cno, (int)(uint8_t)(packet_part2->elev), (int)packet_part2->svid);
// }
//
// for (i = packet_part1->numCh; i < 20; i++) {
// /* unused channels have to be set to zero for e.g. MAVLink */
// _gps_position->satellite_prn[i] = 0;
// _gps_position->satellite_used[i] = 0;
// _gps_position->satellite_snr[i] = 0;
// _gps_position->satellite_elevation[i] = 0;
// _gps_position->satellite_azimuth[i] = 0;
// }
//
// _gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones
//
// if (packet_part1->numCh > 0) {
// _gps_position->satellite_info_available = true;
//
// } else {
// _gps_position->satellite_info_available = false;
// }
//
// _gps_position->timestamp_satellites = hrt_absolute_time();
//
// ret = 1;
// break;
// }
case UBX_MESSAGE_NAV_VELNED: {
// printf("GOT NAV_VELNED\n");
@ -573,23 +573,23 @@ UBX::handle_message()
break;
}
case UBX_CLASS_MON: {
switch (_message_id) {
case UBX_MESSAGE_MON_HW: {
struct gps_bin_mon_hw_packet *p = (struct gps_bin_mon_hw_packet*) _rx_buffer;
_gps_position->noise_per_ms = p->noisePerMS;
_gps_position->jamming_indicator = p->jamInd;
ret = 1;
break;
}
default:
break;
}
}
// case UBX_CLASS_MON: {
// switch (_message_id) {
// case UBX_MESSAGE_MON_HW: {
//
// struct gps_bin_mon_hw_packet *p = (struct gps_bin_mon_hw_packet*) _rx_buffer;
//
// _gps_position->noise_per_ms = p->noisePerMS;
// _gps_position->jamming_indicator = p->jamInd;
//
// ret = 1;
// break;
// }
//
// default:
// break;
// }
// }
default:
break;