diff options
Diffstat (limited to 'src/drivers/gps/gps.cpp')
-rw-r--r-- | src/drivers/gps/gps.cpp | 18 |
1 files changed, 18 insertions, 0 deletions
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 34dd63086..2547cda97 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -69,6 +69,7 @@ #include "ubx.h" #include "mtk.h" +#include "ashtech.h" #define TIMEOUT_5HZ 500 @@ -341,6 +342,11 @@ GPS::task_main() _Helper = new MTK(_serial_fd, &_report_gps_pos); break; + case GPS_DRIVER_MODE_ASHTECH: + + _Helper = new ASHTECH(_serial_fd, &_report_gps_pos, _p_report_sat_info); + break; + default: break; } @@ -402,6 +408,10 @@ GPS::task_main() mode_str = "MTK"; break; + case GPS_DRIVER_MODE_ASHTECH: + mode_str = "ASHTECH"; + break; + default: break; } @@ -429,6 +439,10 @@ GPS::task_main() break; case GPS_DRIVER_MODE_MTK: + _mode = GPS_DRIVER_MODE_ASHTECH; + break; + + case GPS_DRIVER_MODE_ASHTECH: _mode = GPS_DRIVER_MODE_UBX; break; @@ -475,6 +489,10 @@ GPS::print_info() warnx("protocol: MTK"); break; + case GPS_DRIVER_MODE_ASHTECH: + warnx("protocol: ASHTECH"); + break; + default: break; } |