Add tim tm2 #27
Add tim tm2 #27
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flynneva
commented
Mar 10, 2018
flynneva
commented
- added TIM implementation
- added TIM-TM2 msg
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@flynneva Thanks for the contributing! Can you please take a look at the comments below, once those are taken care of I can merge this in.
ublox_gps/src/gps.cpp
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| tio.c_cc[VMIN] = 1; | ||
| tcflush(fd, TCIFLUSH); | ||
| tcsetattr(fd, TCSANOW, &tio); | ||
| } |
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This block is not required since we set the correct mode for the serial port in the code just below this.
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the code right below this looks like it checks the boost version before setting the correct mode for the serial port. this code block above looks like it is meant to wait for at least one character from the serial port before returning from read....
Have you tested it without this block above to make sure that it is not needed? With different versions of boost?
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It looks like this block of code is from this comment: #20 (comment), so I'm fairly confident about it.
The Boost version check was added since Boost sets the correct parameters when initializing the serial port in versions >= 1.66.
ublox_gps/src/node.cpp
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| // if (enabled["rxm_sfrb"]) | ||
| // gps.subscribe<ublox_msgs::RxmSFRBX>(boost::bind( | ||
| // publish<ublox_msgs::RxmSFRBX>, _1, "rxmsfrb"), kSubscribeRate); | ||
| } |
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Can this function be cleaned up a bit? Lots of commented out code here.
| @@ -285,7 +274,7 @@ bool Gps::configReset(uint16_t nav_bbr_mask, uint16_t reset_mode) { | |||
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| bool Gps::configGnss(CfgGNSS gnss, | |||
| const boost::posix_time::time_duration& wait) { | |||
| // Configure the GNSS settings | |||
| // Configure the GNSS settingshttps://mail.google.com/mail/u/0/#inbox | |||
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Looks like a copy paste by mistake here.
| nh->param("publish/rxm/raw", enabled["rxm_raw"], enabled["rxm"]); | ||
| if (enabled["rxm_raw"]) | ||
| gps.subscribe<ublox_msgs::RxmRAWX>(boost::bind( | ||
| publish<ublox_msgs::RxmRAWX>, _1, "rxmraw"), kSubscribeRate); |
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Probably want to keep the RXM-RAWX message option
ublox_gps/src/node.cpp
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| nh->param("publish/rxm/sfrb", enabled["rxm_sfrb"], enabled["rxm"]); | ||
| if (enabled["rxm_sfrb"]) | ||
| gps.subscribe<ublox_msgs::RxmSFRBX>(boost::bind( | ||
| publish<ublox_msgs::RxmSFRBX>, _1, "rxmsfrb"), kSubscribeRate); |
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Probably want to keep the RXM-SFRBX message option
