diff options
Diffstat (limited to 'src/drivers/ao_gps_ublox.c')
| -rw-r--r-- | src/drivers/ao_gps_ublox.c | 13 |
1 files changed, 10 insertions, 3 deletions
diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c index 01169522..077698a9 100644 --- a/src/drivers/ao_gps_ublox.c +++ b/src/drivers/ao_gps_ublox.c @@ -601,6 +601,14 @@ static const uint8_t ublox_enable_nav[] = { }; 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 { uint8_t class, id; @@ -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 */ - 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, @@ -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_VALID; + ao_gps_data.flags |= AO_GPS_VALID | AO_GPS_COURSE_VALID; if (nsat > 15) nsat = 15; ao_gps_data.flags |= nsat; |