altos: Use symbolic names for ublox packet id

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 32405ea5db502d9d2cfc7e3d559a3a0d8ba3589a..574b6a2c5686d0313f6e05b9d3d59d264dea8ea7 100644 (file)
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -450,6 +450,18 @@ static const uint8_t ublox_disable_nav[] = {
        0x06, 0x03, 0x30, 0x20, 0x21, 0x11, 0x12
 };
 
+/*
+ * Enable enough messages to get all of the data we want
+ */
+static const uint8_t ublox_enable_nav[] = {
+       UBLOX_NAV_DOP,
+       UBLOX_NAV_POSLLH,
+       UBLOX_NAV_SOL,
+       UBLOX_NAV_SVINFO,
+       UBLOX_NAV_VELNED,
+       UBLOX_NAV_TIMEUTC
+};
+
 void
 ao_gps(void) __reentrant
 {
@@ -459,30 +471,15 @@ ao_gps(void) __reentrant
 
        ao_gps_setup();
 
+       /* Disable all messages */
        for (i = 0; i < sizeof (ublox_disable_mon); i++)
                ao_ublox_set_message_rate(0x0a, ublox_disable_mon[i], 0);
        for (i = 0; i < sizeof (ublox_disable_nav); i++)
-               ao_ublox_set_message_rate(0x01, ublox_disable_nav[i], 0);
+               ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
 
        /* Enable all of the messages we want */
-
-       /* DOP */
-       ao_ublox_set_message_rate(0x01, 0x04, 1);
-
-       /* POSLLH */
-       ao_ublox_set_message_rate(0x01, 0x02, 1);
-
-       /* SOL */
-       ao_ublox_set_message_rate(0x01, 0x06, 1);
-
-       /* SVINFO */
-       ao_ublox_set_message_rate(0x01, 0x30, 1);
-
-       /* VELNED */
-       ao_ublox_set_message_rate(0x01, 0x12, 1);
-
-       /* TIMEUTC */
-       ao_ublox_set_message_rate(0x01, 0x21, 1);
+       for (i = 0; i < sizeof (ublox_enable_nav); i++)
+               ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1);
        
        for (;;) {
                /* Locate the begining of the next record */