void gps_startup_sequence(int16_t gpscount)
{
if (gpscount == 100)
week_no.BB = 0;
else if (gpscount == 90)
// Start at 38400 baud
udb_gps_set_rate(38400);
else if (gpscount == 80)
// Set to 4Hz refresh rate
gpsoutline(gps_refresh_rate);
else if (gpscount == 70)
// Enable SBAS
gpsoutline(gps_sbas_enable);
else if (gpscount == 60)
// Enable WAAS
gpsoutline(gps_waas_enable);
else if (gpscount == 50)
// Disable navigation threshold, so we get sent all position updates
gpsoutline(gps_navthreshold_disable);
else if (gpscount == 40)
// Set up GPS for 19200 baud
gpsoutline(gps_baud_rate);
else if (gpscount == 30)
// Switch UDB to 19200 baud
udb_gps_set_rate(19200);
else if (gpscount == 20)
// Switch the GPS to use the custom DIY Drones binary protocol
gpsoutline(gps_bin_mode);
}
void gps_startup_sequence(int16_t gpscount)
{
if (gpscount == 980)
{
#if (HILSIM == 1)
udb_gps_set_rate(HILSIM_BAUD);
#else
udb_gps_set_rate(9600);
#endif
}
else if (dcm_flags._.nmea_passthrough && gpscount == 200)
gpsoutline(disable_GSV);
else if (dcm_flags._.nmea_passthrough && gpscount == 190)
gpsoutline(disable_GSA);
else if (dcm_flags._.nmea_passthrough && gpscount == 180)
gpsoutline(disable_GLL);
else if (dcm_flags._.nmea_passthrough && gpscount == 170)
gpsoutline(disable_VTG);
else if (dcm_flags._.nmea_passthrough && gpscount == 160)
// set the UBX to use binary and nmea
gpsoutline(bin_mode_withnmea);
else if (!dcm_flags._.nmea_passthrough && gpscount == 160)
// set the UBX to use binary mode
gpsoutline(bin_mode_nonmea);
#if (HILSIM != 1)
else if (gpscount == 150)
udb_gps_set_rate(19200);
#endif
else if (gpscount == 140)
gpsoutbin(set_rate_length, set_rate);
else if (gpscount == 130)
// command GPS to select which messages are sent, using UBX interface
gpsoutbin(enable_NAV_SOL_length, enable_NAV_SOL);
else if (gpscount == 120)
gpsoutbin(enable_NAV_POSLLH_length, enable_NAV_POSLLH);
else if (gpscount == 110)
gpsoutbin(enable_NAV_VELNED_length, enable_NAV_VELNED);
else if (gpscount == 100)
gpsoutbin(enable_NAV_DOP_length, enable_NAV_DOP);
else if (dcm_flags._.nmea_passthrough && gpscount == 90)
gpsoutbin(enable_UBX_only_length, enable_UBX_NMEA);
else if (!dcm_flags._.nmea_passthrough && gpscount == 90)
gpsoutbin(enable_UBX_only_length, enable_UBX_only);
else if (gpscount == 80)
gpsoutbin(enable_SBAS_length, enable_SBAS);
else if (gpscount == 70)
gpsoutbin(config_NAV5_length, config_NAV5);
}
