diff options
Diffstat (limited to 'src/drivers/gps/mtk.cpp')
| -rw-r--r-- | src/drivers/gps/mtk.cpp | 22 |
1 files changed, 10 insertions, 12 deletions
diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index d808b59a9..c0c47073b 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -73,39 +73,38 @@ MTK::configure(unsigned &baudrate) /* Write config messages, don't wait for an answer */ if (strlen(MTK_OUTPUT_5HZ) != write(_fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ))) { - warnx("mtk: config write failed"); - return -1; + goto errout; } usleep(10000); if (strlen(MTK_SET_BINARY) != write(_fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) { - warnx("mtk: config write failed"); - return -1; + goto errout; } usleep(10000); if (strlen(SBAS_ON) != write(_fd, SBAS_ON, strlen(SBAS_ON))) { - warnx("mtk: config write failed"); - return -1; + goto errout; } usleep(10000); if (strlen(WAAS_ON) != write(_fd, WAAS_ON, strlen(WAAS_ON))) { - warnx("mtk: config write failed"); - return -1; + goto errout; } usleep(10000); if (strlen(MTK_NAVTHRES_OFF) != write(_fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) { - warnx("mtk: config write failed"); - return -1; + goto errout; } return 0; + +errout: + warnx("mtk: config write failed"); + return -1; } int @@ -222,7 +221,6 @@ MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet) ret = 1; } else { - warnx("MTK Checksum invalid"); ret = -1; } |