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px4-firmware
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Some timeout needed to be raised for now to make ubx with baudrate 9600 working

This commit is contained in:
Julian Oes 2013-01-21 17:42:08 -08:00
parent 48e497e406
commit f14c90c222
2 changed files with 6 additions and 3 deletions
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5
apps/gps/ubx.c
View File

@ -880,6 +880,7 @@ void *ubx_watchdog_loop(void *args)
int *fd = arguments->fd_ptr;
bool *thread_should_exit = arguments->thread_should_exit_ptr;
ubx_config_state = UBX_CONFIG_STATE_PRT;
/* first try to configure the GPS anyway */
configure_gps_ubx(fd);
@ -892,7 +893,7 @@ void *ubx_watchdog_loop(void *args)
bool once_ok = false;
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
ubx_config_state = UBX_CONFIG_STATE_PRT;
//int err_skip_counter = 0;
while (!(*thread_should_exit)) {
@ -940,7 +941,9 @@ void *ubx_watchdog_loop(void *args)
ubx_healthy = false;
ubx_success_count = 0;
}
/* trying to reconfigure the gps configuration */
ubx_config_state = UBX_CONFIG_STATE_PRT;
configure_gps_ubx(fd);
fflush(stdout);
sleep(1);

4
apps/gps/ubx.h
View File

@ -51,9 +51,9 @@
//internal definitions (not depending on the ubx protocol
#define UBX_NO_OF_MESSAGES 7 /**< Read 7 UBX GPS messages */
#define UBX_WATCHDOG_CRITICAL_TIME_MICROSECONDS 3000000 /**< Allow 3 seconds maximum inter-message time */
#define UBX_WATCHDOG_WAIT_TIME_MICROSECONDS 1000000 /**< Check for current state every second */
#define UBX_WATCHDOG_WAIT_TIME_MICROSECONDS 2000000 /**< Check for current state every two seconds */
#define UBX_CONFIG_TIMEOUT 500000
#define UBX_CONFIG_TIMEOUT 1000000
#define APPNAME "gps: ubx"