// Public Methods ////////////////////////////////////////////////////////////////////
void AP_GPS_406::init(enum GPS_Engine_Setting nav_setting)
{
_change_to_sirf_protocol(); // Changes to SIRF protocol and sets baud rate
_configure_gps(); // Function to configure GPS, to output only the desired msg's
AP_GPS_SIRF::init(nav_setting); // let the superclass do anything it might need here
idleTimeout = 1200;
}
void
AP_GPS_UBLOX::init(enum GPS_Engine_Setting nav_setting)
{
// XXX it might make sense to send some CFG_MSG,CFG_NMEA messages to get the
// right reporting configuration.
Debug("uBlox nav_setting=%u\n", nav_setting);
_port->flush();
_epoch = TIME_OF_WEEK;
idleTimeout = 1200;
// configure the GPS for the messages we want
_configure_gps();
_nav_setting = nav_setting;
}
void
AP_GPS_UBLOX::init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting)
{
_port = s;
// XXX it might make sense to send some CFG_MSG,CFG_NMEA messages to get the
// right reporting configuration.
Debug("uBlox nav_setting=%u\n", nav_setting);
_port->flush();
_epoch = TIME_OF_WEEK;
// configure the GPS for the messages we want
_configure_gps();
_nav_setting = nav_setting;
_step = 0;
_new_position = false;
_new_speed = false;
}
AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
AP_GPS_Backend(_gps, _state, _port),
_step(0),
_msg_id(0),
_payload_length(0),
_payload_counter(0),
_fix_count(0),
_class(0),
_new_position(0),
_new_speed(0),
need_rate_update(false),
_disable_counter(0),
next_fix(AP_GPS::NO_FIX),
rate_update_step(0),
_last_5hz_time(0)
{
// stop any config strings that are pending
gps.send_blob_start(state.instance, NULL, 0);
// configure the GPS for the messages we want
_configure_gps();
}