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GPS: Publish first data after configuring device

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This commit is contained in:
Johan Jansen
2015-05-18 12:48:40 +02:00
parent 38004cdd95
commit 680898e6aa
1 changed files with 15 additions and 7 deletions
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22
src/drivers/gps/gps.cpp
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@@ -354,6 +354,20 @@ GPS::task_main()
if (_Helper->configure(_baudrate) == 0) {
unlock();
//Publish initial report that we have access to a GPS
//Make sure to clear any stale data in case driver is reset
memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
_report_gps_pos.timestamp_position = hrt_absolute_time();
_report_gps_pos.timestamp_variance = hrt_absolute_time();
_report_gps_pos.timestamp_velocity = hrt_absolute_time();
_report_gps_pos.timestamp_time = hrt_absolute_time();
if (_report_gps_pos_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
} else {
_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
}
// GPS is obviously detected successfully, reset statistics
_Helper->reset_update_rates();
@@ -364,13 +378,7 @@ GPS::task_main()
if (!(_pub_blocked)) {
if (helper_ret & 1) {
if (_report_gps_pos_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
} else {
_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
}
orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
}
if (_p_report_sat_info && (helper_ret & 2)) {
if (_report_sat_info_pub > 0) {