diff options
| -rw-r--r-- | src/drivers/gps/gps.cpp | 28 |
1 files changed, 19 insertions, 9 deletions
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index d8e2bd797..f4d2f4b44 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -83,7 +83,7 @@ static const int ERROR = -1; class GPS : public device::CDev { public: - GPS(const char *uart_path, bool fake_gps); + GPS(const char *uart_path, bool fake_gps, bool enable_sat_info); virtual ~GPS(); virtual int init(); @@ -113,6 +113,7 @@ private: orb_advert_t _report_sat_info_pub; ///< uORB pub for satellite info float _rate; ///< position update rate bool _fake_gps; ///< fake gps output + bool _enable_sat_info; ///< enable sat info /** @@ -157,7 +158,7 @@ GPS *g_dev; } -GPS::GPS(const char *uart_path, bool fake_gps) : +GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) : CDev("gps", GPS_DEVICE_PATH), _task_should_exit(false), _healthy(false), @@ -167,7 +168,8 @@ GPS::GPS(const char *uart_path, bool fake_gps) : _report_gps_pos_pub(-1), _report_sat_info_pub(-1), _rate(0.0f), - _fake_gps(fake_gps) + _fake_gps(fake_gps), + _enable_sat_info(enable_sat_info) { /* store port name */ strncpy(_port, uart_path, sizeof(_port)); @@ -318,7 +320,7 @@ GPS::task_main() switch (_mode) { case GPS_DRIVER_MODE_UBX: - _Helper = new UBX(_serial_fd, &_report_gps_pos, &_report_sat_info, UBX_ENABLE_NAV_SVINFO); + _Helper = new UBX(_serial_fd, &_report_gps_pos, &_report_sat_info, _enable_sat_info); break; case GPS_DRIVER_MODE_MTK: @@ -464,6 +466,7 @@ GPS::print_info() } warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK"); + warnx("sat info: %s", (_enable_sat_info) ? "enabled" : "disabled"); if (_report_gps_pos.timestamp_position != 0) { warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type, @@ -487,7 +490,7 @@ namespace gps GPS *g_dev; -void start(const char *uart_path, bool fake_gps); +void start(const char *uart_path, bool fake_gps, bool enable_sat_info); void stop(); void test(); void reset(); @@ -497,7 +500,7 @@ void info(); * Start the driver. */ void -start(const char *uart_path, bool fake_gps) +start(const char *uart_path, bool fake_gps, bool enable_sat_info) { int fd; @@ -505,7 +508,7 @@ start(const char *uart_path, bool fake_gps) errx(1, "already started"); /* create the driver */ - g_dev = new GPS(uart_path, fake_gps); + g_dev = new GPS(uart_path, fake_gps, enable_sat_info); if (g_dev == nullptr) goto fail; @@ -598,6 +601,7 @@ gps_main(int argc, char *argv[]) /* set to default */ const char *device_name = GPS_DEFAULT_UART_PORT; bool fake_gps = false; + bool enable_sat_info = false; /* * Start/load the driver. @@ -619,7 +623,13 @@ gps_main(int argc, char *argv[]) fake_gps = true; } - gps::start(device_name, fake_gps); + /* Detect sat info option */ + for (int i = 2; i < argc; i++) { + if (!strcmp(argv[i], "-s")) + enable_sat_info = true; + } + + gps::start(device_name, fake_gps, enable_sat_info); } if (!strcmp(argv[1], "stop")) @@ -644,5 +654,5 @@ gps_main(int argc, char *argv[]) gps::info(); out: - errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f]"); + errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f][-s]"); } |