Exemplos de _configure_navigation_rate em C++ (Cpp)

Exemplo n.º 1

Arquivo: AP_GPS_UBLOX.cpp Projeto: Checkie/ardupilot

/*
  send the next step of rate updates to the GPS. This reconfigures the
  GPS on the fly to have the right message rates. It needs to be
  careful to only send a message if there is sufficient buffer space
  available on the serial port to avoid it blocking the CPU
 */
void
AP_GPS_UBLOX::send_next_rate_update(void)
{
    if (_port->txspace() < (int16_t)(sizeof(struct ubx_header)+sizeof(struct ubx_cfg_nav_rate)+2)) {
        // not enough space - do it next time
        return;
    }

    //hal.console->printf_P(PSTR("next_rate: %u\n"), (unsigned)rate_update_step);

    switch (rate_update_step) {
    case 0:
        _configure_navigation_rate(200);
        break;
    case 1:
        _configure_message_rate(CLASS_NAV, MSG_POSLLH, 1);
        break;
    case 2:
        _configure_message_rate(CLASS_NAV, MSG_STATUS, 1);
        break;
    case 3:
        _configure_message_rate(CLASS_NAV, MSG_SOL, 1);
        break;
    case 4:
        _configure_message_rate(CLASS_NAV, MSG_VELNED, 1);
        break;
    }
    rate_update_step++;
    if (rate_update_step > 4) {
        need_rate_update = false;
        rate_update_step = 0;
    }
}

Exemplo n.º 2

Arquivo: AP_GPS_UBLOX.cpp Projeto: HackInvent/ardupilot-solo

/*
  send the next step of rate updates to the GPS. This reconfigures the
  GPS on the fly to have the right message rates. It needs to be
  careful to only send a message if there is sufficient buffer space
  available on the serial port to avoid it blocking the CPU
 */
void
AP_GPS_UBLOX::send_next_rate_update(void)
{
    if (port->txspace() < (int16_t)(sizeof(struct ubx_header)+sizeof(struct ubx_cfg_nav_rate)+2)) {
        // not enough space - do it next time
        return;
    }

    //hal.console->printf_P(PSTR("next_rate: %u\n"), (unsigned)rate_update_step);

    switch (rate_update_step++) {
    case 0:
        _configure_navigation_rate(200);
        break;
    case 1:
        _configure_message_rate(CLASS_NAV, MSG_POSLLH, 1); // 28+8 bytes
        break;
    case 2:
        _configure_message_rate(CLASS_NAV, MSG_STATUS, 1); // 16+8 bytes
        break;
    case 3:
        _configure_message_rate(CLASS_NAV, MSG_DOP, 1);
        break;
    case 4:
        _configure_message_rate(CLASS_NAV, MSG_SOL, 1);    // 52+8 bytes
        break;
    case 5:
        _configure_message_rate(CLASS_NAV, MSG_VELNED, 1); // 36+8 bytes
        break;
#if UBLOX_HW_LOGGING
    case 6:
        // gather MON_HW at 0.5Hz
        _configure_message_rate(CLASS_MON, MSG_MON_HW, 2); // 64+8 bytes
        break;
    case 7:
        // gather MON_HW2 at 0.5Hz
        _configure_message_rate(CLASS_MON, MSG_MON_HW2, 2); // 24+8 bytes
        break;
#endif
#if UBLOX_VERSION_AUTODETECTION 
    case 8:
        _request_version();
        break;
#endif
    default:
        need_rate_update = false;
        rate_update_step = 0;
        break;
    }
}