void
AP_GPS_UBLOX::_request_next_config(void)
{
// don't request config if we shouldn't configure the GPS
if (gps._auto_config == AP_GPS::GPS_AUTO_CONFIG_DISABLE) {
return;
}
// Ensure there is enough space for the largest possible outgoing message
if (port->txspace() < (int16_t)(sizeof(struct ubx_header)+sizeof(struct ubx_cfg_nav_rate)+2)) {
// not enough space - do it next time
return;
}
Debug("Unconfigured messages: %u Current message: %u\n", (unsigned)_unconfigured_messages, (unsigned)_next_message);
// check AP_GPS_UBLOX.h for the enum that controls the order.
// This switch statement isn't maintained against the enum in order to reduce code churn
switch (_next_message++) {
case STEP_PVT:
if(!_request_message_rate(CLASS_NAV, MSG_PVT)) {
_next_message--;
}
break;
case STEP_PORT:
_request_port();
break;
case STEP_POLL_SVINFO:
// not required once we know what generation we are on
if(_hardware_generation == UBLOX_UNKNOWN_HARDWARE_GENERATION) {
if (!_send_message(CLASS_NAV, MSG_NAV_SVINFO, 0, 0)) {
_next_message--;
}
}
break;
case STEP_POLL_SBAS:
if (gps._sbas_mode != 2) {
_send_message(CLASS_CFG, MSG_CFG_SBAS, nullptr, 0);
} else {
_unconfigured_messages &= ~CONFIG_SBAS;
}
break;
case STEP_POLL_NAV:
if (!_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS, nullptr, 0)) {
_next_message--;
}
break;
case STEP_POLL_GNSS:
if (!_send_message(CLASS_CFG, MSG_CFG_GNSS, nullptr, 0)) {
_next_message--;
}
break;
case STEP_POLL_TP5:
#if CONFIGURE_PPS_PIN
if (!_send_message(CLASS_CFG, MSG_CFG_TP5, nullptr, 0)) {
_next_message--;
}
#endif
break;
case STEP_NAV_RATE:
if (!_send_message(CLASS_CFG, MSG_CFG_RATE, nullptr, 0)) {
_next_message--;
}
break;
case STEP_POSLLH:
if(!_request_message_rate(CLASS_NAV, MSG_POSLLH)) {
_next_message--;
}
break;
case STEP_STATUS:
if(!_request_message_rate(CLASS_NAV, MSG_STATUS)) {
_next_message--;
}
break;
case STEP_SOL:
if(!_request_message_rate(CLASS_NAV, MSG_SOL)) {
_next_message--;
}
break;
case STEP_VELNED:
if(!_request_message_rate(CLASS_NAV, MSG_VELNED)) {
_next_message--;
}
break;
case STEP_DOP:
if(! _request_message_rate(CLASS_NAV, MSG_DOP)) {
_next_message--;
}
break;
case STEP_MON_HW:
if(!_request_message_rate(CLASS_MON, MSG_MON_HW)) {
_next_message--;
}
break;
case STEP_MON_HW2:
if(!_request_message_rate(CLASS_MON, MSG_MON_HW2)) {
_next_message--;
}
break;
case STEP_RAW:
#if UBLOX_RXM_RAW_LOGGING
if(gps._raw_data == 0) {
_unconfigured_messages &= ~CONFIG_RATE_RAW;
} else if(!_request_message_rate(CLASS_RXM, MSG_RXM_RAW)) {
_next_message--;
}
#else
_unconfigured_messages & = ~CONFIG_RATE_RAW;
#endif
break;
case STEP_RAWX:
#if UBLOX_RXM_RAW_LOGGING
if(gps._raw_data == 0) {
_unconfigured_messages &= ~CONFIG_RATE_RAW;
} else if(!_request_message_rate(CLASS_RXM, MSG_RXM_RAWX)) {
_next_message--;
}
#else
_unconfigured_messages & = ~CONFIG_RATE_RAW;
#endif
break;
case STEP_VERSION:
if(!_have_version && !hal.util->get_soft_armed()) {
_request_version();
} else {
_unconfigured_messages &= ~CONFIG_VERSION;
}
// no need to send the initial rates, move to checking only
_next_message = STEP_PVT;
break;
default:
// this case should never be reached, do a full reset if it is hit
_next_message = STEP_PVT;
break;
}
}
void
AP_GPS_UBLOX::_request_next_config(void)
{
// don't request config if we shouldn't configure the GPS
if (gps._auto_config == 0) {
return;
}
// Ensure there is enough space for the largest possible outgoing message
if (port->txspace() < (int16_t)(sizeof(struct ubx_header)+sizeof(struct ubx_cfg_nav_rate)+2)) {
// not enough space - do it next time
return;
}
Debug("Unconfigured messages: %d Current message: %d\n", _unconfigured_messages, _next_message);
switch (_next_message++) {
case STEP_RATE_NAV:
_configure_rate();
break;
case STEP_RATE_POSLLH:
if(!_configure_message_rate(CLASS_NAV, MSG_POSLLH, RATE_POSLLH)) {
_next_message--;
}
break;
case STEP_RATE_VELNED:
if(!_configure_message_rate(CLASS_NAV, MSG_VELNED, RATE_VELNED)) {
_next_message--;
}
break;
case STEP_PORT:
_request_port();
break;
case STEP_POLL_SVINFO:
// not required once we know what generation we are on
if(_hardware_generation == 0) {
_send_message(CLASS_NAV, MSG_NAV_SVINFO, 0, 0);
}
break;
case STEP_POLL_SBAS:
_send_message(CLASS_CFG, MSG_CFG_SBAS, NULL, 0);
break;
case STEP_POLL_NAV:
_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS, NULL, 0);
break;
case STEP_POLL_GNSS:
_send_message(CLASS_CFG, MSG_CFG_GNSS, NULL, 0);
break;
case STEP_NAV_RATE:
_send_message(CLASS_CFG, MSG_CFG_RATE, NULL, 0);
break;
case STEP_POSLLH:
if(!_request_message_rate(CLASS_NAV, MSG_POSLLH)) {
_next_message--;
}
break;
case STEP_STATUS:
if(!_request_message_rate(CLASS_NAV, MSG_STATUS)) {
_next_message--;
}
break;
case STEP_SOL:
if(!_request_message_rate(CLASS_NAV, MSG_SOL)) {
_next_message--;
}
break;
case STEP_VELNED:
if(!_request_message_rate(CLASS_NAV, MSG_VELNED)) {
_next_message--;
}
break;
case STEP_DOP:
if(! _request_message_rate(CLASS_NAV, MSG_DOP)) {
_next_message--;
}
break;
case STEP_MON_HW:
if(!_request_message_rate(CLASS_MON, MSG_MON_HW)) {
_next_message--;
}
break;
case STEP_MON_HW2:
if(!_request_message_rate(CLASS_MON, MSG_MON_HW2)) {
_next_message--;
}
break;
case STEP_RAW:
#if UBLOX_RXM_RAW_LOGGING
if(gps._raw_data == 0) {
_unconfigured_messages &= ~CONFIG_RATE_RAW;
} else if(!_request_message_rate(CLASS_RXM, MSG_RXM_RAW)) {
_next_message--;
}
#else
_unconfigured_messages & = ~CONFIG_RATE_RAW;
#endif
break;
case STEP_RAWX:
#if UBLOX_RXM_RAW_LOGGING
if(gps._raw_data == 0) {
_unconfigured_messages &= ~CONFIG_RATE_RAW;
} else if(!_request_message_rate(CLASS_RXM, MSG_RXM_RAWX)) {
_next_message--;
}
#else
_unconfigured_messages & = ~CONFIG_RATE_RAW;
#endif
break;
case STEP_VERSION:
if(!_have_version && !hal.util->get_soft_armed()) {
_request_version();
} else {
_unconfigured_messages &= ~CONFIG_VERSION;
}
// no need to send the initial rates, move to checking only
_next_message = STEP_PORT;
break;
default:
// this case should never be reached, do a full reset if it is hit
_next_message = STEP_RATE_NAV;
break;
}
}