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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-12 17:36:17 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-12 17:36:17 +0100 |
| commit | 66e806754ba17c127cd9fa657b0bad5d0b2015a3 (patch) | |
| tree | e7119b7da4d144a8724f1c145f10ca891a76604a /apps/gps | |
| parent | 2c12802f25cef99da345493d01c54c7c39602ccc (diff) | |
| download | px4-firmware-66e806754ba17c127cd9fa657b0bad5d0b2015a3.tar.gz px4-firmware-66e806754ba17c127cd9fa657b0bad5d0b2015a3.tar.bz2 px4-firmware-66e806754ba17c127cd9fa657b0bad5d0b2015a3.zip | |
Fixed GPS status detection
Diffstat (limited to 'apps/gps')
| -rw-r--r-- | apps/gps/mtk.c | 7 | ||||
| -rw-r--r-- | apps/gps/ubx.c | 11 |
2 files changed, 10 insertions, 8 deletions
diff --git a/apps/gps/mtk.c b/apps/gps/mtk.c index 374280d28..604dba05c 100644 --- a/apps/gps/mtk.c +++ b/apps/gps/mtk.c @@ -418,10 +418,11 @@ void *mtk_watchdog_loop(void *args) mtk_gps->satellite_info_available = 0; // global_data_send_subsystem_info(&mtk_present_enabled_healthy); mavlink_log_info(mavlink_fd, "[gps] MTK custom binary module found, status ok\n"); - mtk_healthy = true; - mtk_fail_count = 0; - once_ok = true; } + + mtk_healthy = true; + mtk_fail_count = 0; + once_ok = true; } usleep(MTK_WATCHDOG_WAIT_TIME_MICROSECONDS); diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c index 03ae622a1..21e917bf8 100644 --- a/apps/gps/ubx.c +++ b/apps/gps/ubx.c @@ -272,7 +272,8 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) ubx_gps->timestamp = hrt_absolute_time(); ubx_gps->counter++; - + ubx_gps->s_variance = packet->sAcc; + ubx_gps->p_variance = packet->pAcc; //pthread_mutex_lock(ubx_mutex); ubx_state->last_message_timestamps[NAV_SOL - 1] = hrt_absolute_time(); @@ -785,10 +786,6 @@ void *ubx_watchdog_loop(void *args) sleep(1); } else { - /* gps healthy */ - ubx_success_count++; - ubx_healthy = true; - ubx_fail_count = 0; if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) { //printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed); @@ -799,6 +796,10 @@ void *ubx_watchdog_loop(void *args) once_ok = true; } + /* gps healthy */ + ubx_success_count++; + ubx_healthy = true; + ubx_fail_count = 0; } usleep(UBX_WATCHDOG_WAIT_TIME_MICROSECONDS); |