X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_ublox.c;h=c720f802acd2e9a73476d6a95dce6dca0bf0dde9;hb=97cf9df882291b9e494b2f64f84eb37357a6ab31;hp=8676a670fd86a092bdaf5fcdd8d7b8220ab92ac3;hpb=8124af8c27b2b9e446aa3a4f1da83d4db7c1ea87;p=fw%2Faltos

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 8676a670..c720f802 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -155,7 +156,7 @@ static char __xdata *ublox_target;
 
 static void ublox_u16(uint8_t offset)
 {
-	uint16_t __xdata *ptr = (uint16_t __xdata *) (ublox_target + offset);
+	uint16_t __xdata *ptr = (uint16_t __xdata *) (void __xdata *) (ublox_target + offset);
 	uint16_t val;
 
 	val = data_byte();
@@ -174,7 +175,7 @@ static void ublox_u8(uint8_t offset)
 
 static void ublox_u32(uint8_t offset) __reentrant
 {
-	uint32_t __xdata *ptr = (uint32_t __xdata *) (ublox_target + offset);
+	uint32_t __xdata *ptr = (uint32_t __xdata *) (void __xdata *) (ublox_target + offset);
 	uint32_t val;
 
 	val = ((uint32_t) data_byte ());
@@ -600,6 +601,14 @@ static const uint8_t ublox_enable_nav[] = {
 	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
 {
@@ -616,8 +625,7 @@ ao_gps(void) __reentrant
 		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,
@@ -721,7 +729,7 @@ ao_gps(void) __reentrant
 				if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC))
 					ao_gps_data.flags |= AO_GPS_DATE_VALID;
 
-				ao_gps_data.altitude = nav_posllh.alt_msl / 1000;
+				AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, nav_posllh.alt_msl / 1000);
 				ao_gps_data.latitude = nav_posllh.lat;
 				ao_gps_data.longitude = nav_posllh.lon;
 
@@ -733,11 +741,11 @@ ao_gps(void) __reentrant
 				ao_gps_data.minute = nav_timeutc.min;
 				ao_gps_data.second = nav_timeutc.sec;
 
-				ao_gps_data.pdop = nav_dop.pdop;
-				ao_gps_data.hdop = nav_dop.hdop;
-				ao_gps_data.vdop = nav_dop.vdop;
-
-				/* mode is not set */
+				/* we report dop scaled by 10, but ublox provides dop scaled by 100
+				 */
+				ao_gps_data.pdop = nav_dop.pdop / 10;
+				ao_gps_data.hdop = nav_dop.hdop / 10;
+				ao_gps_data.vdop = nav_dop.vdop / 10;
 
 				ao_gps_data.ground_speed = nav_velned.g_speed;
 				ao_gps_data.climb_rate = -nav_velned.vel_d;