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| author | Kynos <mail01@delago.net> | 2014-06-08 14:05:35 +0200 |
|---|---|---|
| committer | Kynos <mail01@delago.net> | 2014-06-08 14:05:35 +0200 |
| commit | 9f754e0e9a2e2ad75a3fe5a15690cf542ce08e8a (patch) | |
| tree | 3a67a6b2cf6b82304d01156cd7d9f6699e314ea3 /src/drivers/gps/ubx.h | |
| parent | 9bad828bc0033c7017978de2321d3a8698c0afc6 (diff) | |
| download | px4-firmware-9f754e0e9a2e2ad75a3fe5a15690cf542ce08e8a.tar.gz px4-firmware-9f754e0e9a2e2ad75a3fe5a15690cf542ce08e8a.tar.bz2 px4-firmware-9f754e0e9a2e2ad75a3fe5a15690cf542ce08e8a.zip | |
U-blox driver rework, step 3
More sat info isolation
Flush input after changing baudrate to allow driver restart w/o GNSS
module restart
Diffstat (limited to 'src/drivers/gps/ubx.h')
| -rw-r--r-- | src/drivers/gps/ubx.h | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index b844c315e..90aeffedc 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -48,9 +48,7 @@ #include "gps_helper.h" -/* TODO: processing of NAV_SVINFO disabled, has to be re-written as an optional feature */ -/* TODO: make this a command line option, allocate buffer dynamically */ -#undef UBX_ENABLE_NAV_SVINFO +#define UBX_ENABLE_NAV_SVINFO 1 /* TODO: make this a command line option, allocate buffer(s) dynamically */ #define UBX_SYNC1 0xB5 #define UBX_SYNC2 0x62 @@ -378,7 +376,7 @@ typedef enum { /* calculate parser rx buffer size dependent on NAV_SVINFO enabled or not */ /* TODO: make this a command line option, allocate buffer dynamically */ #define RECV_BUFFER_OVERHEAD 10 // add this to the maximum Rx msg payload size to account for msg overhead */ -#ifdef UBX_ENABLE_NAV_SVINFO +#if (UBX_ENABLE_NAV_SVINFO != 0) #define RECV_BUFFER_SIZE (UBX_NAV_SVINFO_RX_PAYLOAD_SIZE + RECV_BUFFER_OVERHEAD) #else #define RECV_BUFFER_SIZE (UBX_MAX_RX_PAYLOAD_SIZE + RECV_BUFFER_OVERHEAD) @@ -387,7 +385,7 @@ typedef enum { class UBX : public GPS_Helper { public: - UBX(const int &fd, struct vehicle_gps_position_s *gps_position); + UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info, const bool &enable_sat_info); ~UBX(); int receive(unsigned timeout); int configure(unsigned &baudrate); @@ -434,6 +432,8 @@ private: int _fd; struct vehicle_gps_position_s *_gps_position; + struct satellite_info_s *_satellite_info; + bool _enable_sat_info; bool _configured; bool _waiting_for_ack; uint8_t _message_class_needed; |