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altos: Move ao_config declarations to ao_config.h
[fw/altos]
/
src
/
drivers
/
ao_gps_ublox.c
diff --git
a/src/drivers/ao_gps_ublox.c
b/src/drivers/ao_gps_ublox.c
index 01169522f2ae49f53852098b8c2e9d797dc25a3f..077698a90d514a24672b3d990d867118a1c67a9c 100644
(file)
--- a/
src/drivers/ao_gps_ublox.c
+++ b/
src/drivers/ao_gps_ublox.c
@@
-600,6
+600,14
@@
static const uint8_t ublox_enable_nav[] = {
UBLOX_NAV_TIMEUTC
};
UBLOX_NAV_TIMEUTC
};
+void
+ao_gps_set_rate(uint8_t rate)
+{
+ uint8_t i;
+ for (i = 0; i < sizeof (ublox_enable_nav); i++)
+ ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], rate);
+}
+
void
ao_gps(void) __reentrant
{
void
ao_gps(void) __reentrant
{
@@
-616,8
+624,7
@@
ao_gps(void) __reentrant
ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
/* Enable all of the messages we want */
ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
/* Enable all of the messages we want */
- for (i = 0; i < sizeof (ublox_enable_nav); i++)
- ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1);
+ ao_gps_set_rate(1);
ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE),
UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G,
ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE),
UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G,
@@
-713,7
+720,7
@@
ao_gps(void) __reentrant
ao_gps_data.flags |= AO_GPS_RUNNING;
if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
uint8_t nsat = nav_sol.nsat;
ao_gps_data.flags |= AO_GPS_RUNNING;
if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
uint8_t nsat = nav_sol.nsat;
- ao_gps_data.flags |= AO_GPS_VALID;
+ ao_gps_data.flags |= AO_GPS_VALID
| AO_GPS_COURSE_VALID
;
if (nsat > 15)
nsat = 15;
ao_gps_data.flags |= nsat;
if (nsat > 15)
nsat = 15;
ao_gps_data.flags |= nsat;