Send GPS startup blob only if GPS_AUTO_CONFIG=1 #4636
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added 3 commits
August 8, 2016 14:46
APM supports baud speeds of 19200, but GPS baud rates don't support it. This commit adds it to follow APM supported baud rates.
The counting of this will increment the counter before selecting the baud speed, skipping the first baud rate.
All GPS types will recieve startup up blob config. For some recievers this will cause them to hang. This commit only allows sending of blobs if AUTO_CONFIG=1. Fixes ArduPilot#2622
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Seems appropriate to me. We really need to add support to stop auto-bauding as well, but that is probably a separate issue for the future. I might rearrange the order of the baud table as well to keep the most common bauds first (9600 -> 38400 -> 115200 then the others) but that has been on the todo list for awhile now. Will try to test on actual hardware before next dev call. |
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@WickedShell I can update that tomorrow for common ordering, 9600 Also anything else I can do to test. I've been using the PR basically since I've submitted for my project. |
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Moving the baudrate increment is a good bug fix. Nice catch. |
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looks good, thanks! |
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This PR is for issue #2622.
Problem
Currently all GPS regardless of type get sent the start blob. For some GNSS receivers this confuses them and halts sending GNSS data.
Solution
I could only find AUTO_CONFIG used in UBLOX receivers. To limit this the start blob is only sent if AUTO_CONFIG=1. This allows to have any type of GPS and still have control on to config or not. If using UBLOX AUTO_CONFIG=1 will have to be set, which is the default so hoping to have little impact.