diff options
Diffstat (limited to 'apps/drivers/gps/ubx.cpp')
| -rw-r--r-- | apps/drivers/gps/ubx.cpp | 28 |
1 files changed, 14 insertions, 14 deletions
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp index 981b023e5..7e95514dd 100644 --- a/apps/drivers/gps/ubx.cpp +++ b/apps/drivers/gps/ubx.cpp @@ -371,7 +371,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) } break; default: //should not happen because we set the class - printf("UBX Error, we set a class that we don't know\n"); + warnx("UBX Error, we set a class that we don't know\n"); decodeInit(); break; } @@ -410,7 +410,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) _new_nav_posllh = true; } else { - printf("[gps] NAV_POSLLH: checksum invalid\n"); + warnx("NAV_POSLLH: checksum invalid\n"); } // Reset state machine to decode next packet @@ -437,7 +437,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) _new_nav_sol = true; } else { - printf("[gps] NAV_SOL: checksum invalid\n"); + warnx("NAV_SOL: checksum invalid\n"); } // Reset state machine to decode next packet @@ -463,7 +463,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) _new_nav_dop = true; } else { - printf("[gps] NAV_DOP: checksum invalid\n"); + warnx("NAV_DOP: checksum invalid\n"); } // Reset state machine to decode next packet @@ -624,7 +624,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) _new_nav_velned = true; } else { - printf("[gps] NAV_VELNED: checksum invalid\n"); + warnx("NAV_VELNED: checksum invalid\n"); } // Reset state machine to decode next packet @@ -651,7 +651,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) // ret = 1; // // } else { -// printf("[gps] RXM_SVSI: checksum invalid\n"); +// warnx("RXM_SVSI: checksum invalid\n"); // } // // // Reset state machine to decode next packet @@ -719,7 +719,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) break; } } else { - printf("[gps] ACK_ACK: checksum invalid\n"); + warnx("ACK_ACK: checksum invalid\n"); } // Reset state machine to decode next packet @@ -736,11 +736,11 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) //Check if checksum is valid if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) { - printf("[gps] the ubx gps returned: not acknowledged\n"); + warnx("the ubx gps returned: not acknowledged\n"); ret = 1; } else { - printf("[gps] ACK_NAK: checksum invalid\n"); + warnx("ACK_NAK: checksum invalid\n"); } // Reset state machine to decode next packet @@ -768,16 +768,16 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) break; } - /* return 1 when all needed messages have arrived */ + /* return 1 when position updates and the remaining packets updated at least once */ if(_new_nav_posllh &&_new_nav_timeutc && _new_nav_dop && _new_nav_sol && _new_nav_velned) { gps_position->timestamp = hrt_absolute_time(); ret = 1; _new_nav_posllh = false; - _new_nav_timeutc = false; - _new_nav_dop = false; - _new_nav_sol = false; - _new_nav_velned = false; + // _new_nav_timeutc = false; + // _new_nav_dop = false; + // _new_nav_sol = false; + // _new_nav_velned = false; } return ret; |