diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/ao_gps_ublox.c | 35 |
1 files changed, 16 insertions, 19 deletions
diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c index 32405ea5..574b6a2c 100644 --- 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 */ |