/*
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;
}
}
/*
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;
}
}