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Merge branch 'ubx_no_debug' into inav_gps_delay

This commit is contained in:
Anton Babushkin 2014-05-30 22:13:57 +02:00
parent 0bdde08924 efb44969d5
commit 612b25711f
3 changed files with 22 additions and 6 deletions
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18
src/drivers/gps/ubx.cpp
View File

@ -69,6 +69,9 @@ UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) :
_gps_position(gps_position),
_configured(false),
_waiting_for_ack(false),
_got_posllh(false),
_got_velned(false),
_got_timeutc(false),
_disable_cmd_last(0)
{
decode_init();
@ -275,9 +278,10 @@ UBX::receive(unsigned timeout)
bool handled = false;
while (true) {
bool ready_to_return = _configured ? (_got_posllh && _got_velned && _got_timeutc) : handled;
/* poll for new data, wait for only UBX_PACKET_TIMEOUT (2ms) if something already received */
int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), handled ? UBX_PACKET_TIMEOUT : timeout);
int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), ready_to_return ? UBX_PACKET_TIMEOUT : timeout);
if (ret < 0) {
/* something went wrong when polling */
@ -286,7 +290,10 @@ UBX::receive(unsigned timeout)
} else if (ret == 0) {
/* return success after short delay after receiving a packet or timeout after long delay */
if (handled) {
if (ready_to_return) {
_got_posllh = false;
_got_velned = false;
_got_timeutc = false;
return 1;
} else {
@ -438,6 +445,7 @@ UBX::handle_message()
_rate_count_lat_lon++;
_got_posllh = true;
ret = 1;
break;
}
@ -447,8 +455,8 @@ UBX::handle_message()
gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer;
_gps_position->fix_type = packet->gpsFix;
_gps_position->s_variance_m_s = packet->sAcc;
_gps_position->p_variance_m = packet->pAcc;
_gps_position->s_variance_m_s = (float)packet->sAcc * 1e-2f; // from cm/s to m/s
_gps_position->p_variance_m = (float)packet->pAcc * 1e-2f; // from cm to m
_gps_position->timestamp_variance = hrt_absolute_time();
ret = 1;
@ -482,6 +490,7 @@ UBX::handle_message()
_gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
_gps_position->timestamp_time = hrt_absolute_time();
_got_timeutc = true;
ret = 1;
break;
}
@ -557,6 +566,7 @@ UBX::handle_message()
_rate_count_vel++;
_got_velned = true;
ret = 1;
break;
}

3
src/drivers/gps/ubx.h
View File

@ -397,6 +397,9 @@ private:
struct vehicle_gps_position_s *_gps_position;
bool _configured;
bool _waiting_for_ack;
bool _got_posllh;
bool _got_velned;
bool _got_timeutc;
uint8_t _message_class_needed;
uint8_t _message_id_needed;
ubx_decode_state_t _decode_state;

7
src/modules/mavlink/mavlink_main.cpp
View File

@ -190,8 +190,9 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
/* check if there is space in the buffer, let it overflow else */
if (!ioctl(uart, FIONWRITE, (unsigned long)&buf_free)) {
if (desired > buf_free) {
desired = buf_free;
if (buf_free < desired) {
/* we don't want to send anything just in half, so return */
return;
}
}
@ -222,6 +223,8 @@ Mavlink::Mavlink() :
_subscriptions(nullptr),
_streams(nullptr),
_mission_pub(-1),
_mode(MAVLINK_MODE_NORMAL),
_total_counter(0),
_verbose(false),
_forwarding_on(false),
_passing_on(false),