Merge pull request #6182 from iNavFlight/de_gps_230400_baud

[GPS] Support GPS baud 230400
iNavFlight · Oct 6, 2020 · 59af9c1 · 59af9c1
2 parents 5768156 + b4b2bc3
commit 59af9c1
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Showing 4 changed files with 8 additions and 4 deletions.
diff --git a/src/main/io/gps.c b/src/main/io/gps.c
@@ -72,7 +72,7 @@ gpsStatistics_t   gpsStats;
 gpsSolutionData_t gpsSol;
 
 // Map gpsBaudRate_e index to baudRate_e
-baudRate_e gpsToSerialBaudRate[GPS_BAUDRATE_COUNT] = { BAUD_115200, BAUD_57600, BAUD_38400, BAUD_19200, BAUD_9600 };
+baudRate_e gpsToSerialBaudRate[GPS_BAUDRATE_COUNT] = { BAUD_115200, BAUD_57600, BAUD_38400, BAUD_19200, BAUD_9600, BAUD_230400 };
 
 static gpsProviderDescriptor_t  gpsProviders[GPS_PROVIDER_COUNT] = {
     /* NMEA GPS */
@@ -228,7 +228,8 @@ void gpsInit(void)
 
     // Start with baud rate index as configured for serial port
     int baudrateIndex;
-    for (gpsState.baudrateIndex = 0, baudrateIndex = 0; baudrateIndex < GPS_BAUDRATE_COUNT; baudrateIndex++) {
+    gpsState.baudrateIndex = GPS_BAUDRATE_115200;
+    for (baudrateIndex = 0, gpsState.baudrateIndex = 0; baudrateIndex < GPS_BAUDRATE_COUNT; baudrateIndex++) {
         if (gpsToSerialBaudRate[baudrateIndex] == gpsPortConfig->gps_baudrateIndex) {
             gpsState.baudrateIndex = baudrateIndex;
             break;

diff --git a/src/main/io/gps.h b/src/main/io/gps.h
@@ -58,6 +58,7 @@ typedef enum {
     GPS_BAUDRATE_38400,
     GPS_BAUDRATE_19200,
     GPS_BAUDRATE_9600,
+    GPS_BAUDRATE_230400,
     GPS_BAUDRATE_COUNT
 } gpsBaudRate_e;
 

diff --git a/src/main/io/gps_nmea.c b/src/main/io/gps_nmea.c
@@ -293,7 +293,8 @@ static const char * mtkBaudInitData[GPS_BAUDRATE_COUNT] = {
     "$PMTK251,57600*2C\r\n",      // GPS_BAUDRATE_57600
     "$PMTK251,38400*27\r\n",      // GPS_BAUDRATE_38400
     "$PMTK251,19200*22\r\n",      // GPS_BAUDRATE_19200
-    "$PMTK251,9600*17\r\n"        // GPS_BAUDRATE_9600
+    "$PMTK251,9600*17\r\n",       // GPS_BAUDRATE_9600
+    "$PMTK251,230400*1D\r\n",     // GPS_BAUDRATE_230400
 };
 
 STATIC_PROTOTHREAD(gpsProtocolStateThreadMTK)

diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c
@@ -76,7 +76,8 @@ static const char * baudInitDataNMEA[GPS_BAUDRATE_COUNT] = {
     "$PUBX,41,1,0003,0001,57600,0*2D\r\n",      // GPS_BAUDRATE_57600
     "$PUBX,41,1,0003,0001,38400,0*26\r\n",      // GPS_BAUDRATE_38400
     "$PUBX,41,1,0003,0001,19200,0*23\r\n",      // GPS_BAUDRATE_19200
-    "$PUBX,41,1,0003,0001,9600,0*16\r\n"        // GPS_BAUDRATE_9600
+    "$PUBX,41,1,0003,0001,9600,0*16\r\n",       // GPS_BAUDRATE_9600
+    "$PUBX,41,1,0003,0001,230400,0*1C\r\n",     // GPS_BAUDRATE_230400
 };
 
 // payload types