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gps: add init timeout to handle larger diff after configuration

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This commit is contained in:
Alexander Lerach
2025-11-24 14:23:44 +01:00
parent c4a459838e
commit 8dd88e036d
1 changed files with 16 additions and 6 deletions
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src/drivers/gps/gps.cpp
+16 -6
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@@ -84,9 +84,11 @@
using namespace device; using namespace device;
using namespace time_literals; using namespace time_literals;
#define TIMEOUT_1HZ 1300 //!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error #define TIMEOUT_1HZ 1300 //!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
#define TIMEOUT_5HZ 500 //!< Timeout time in mS, 200 mS (5Hz) + 300 mS delta for error #define TIMEOUT_5HZ 500 //!< Timeout time in mS, 200 mS (5Hz) + 300 mS delta for error
#define TIMEOUT_DUMP_ADD 450 //!< Additional time in mS to account for RTCM3 parsing and dumping #define TIMEOUT_INIT_1HZ (3 * TIMEOUT_1HZ) //!< Timeout time in mS, used until GPS is healthy
#define TIMEOUT_INIT_5HZ (3 * TIMEOUT_5HZ) //!< Timeout time in mS, used until GPS is healthy
#define TIMEOUT_DUMP_ADD 450 //!< Additional time in mS to account for RTCM3 parsing and dumping
enum class gps_driver_mode_t { enum class gps_driver_mode_t {
None = 0, None = 0,
@@ -996,19 +998,26 @@ GPS::run()
} }
int helper_ret; int helper_ret;
unsigned receive_timeout = TIMEOUT_5HZ;
/* After being configured (especially in combination with FLASH wipes) the GPS may require
* additional time before outputting the first navigation data. To account for this, there is
* an init timeout. As soon as the GPS is healthy, the timeout is decreased. This allows for
* a quick reaction to a connection loss. */
unsigned receive_timeout = TIMEOUT_INIT_5HZ;
unsigned healthy_timeout = TIMEOUT_5HZ;
if ((ubx_mode == GPSDriverUBX::UBXMode::RoverWithMovingBase) if ((ubx_mode == GPSDriverUBX::UBXMode::RoverWithMovingBase)
|| (ubx_mode == GPSDriverUBX::UBXMode::RoverWithMovingBaseUART1)) { || (ubx_mode == GPSDriverUBX::UBXMode::RoverWithMovingBaseUART1)) {
/* The MB rover will wait as long as possible to compute a navigation solution, /* The MB rover will wait as long as possible to compute a navigation solution,
* possibly lowering the navigation rate all the way to 1 Hz while doing so. */ * possibly lowering the navigation rate all the way to 1 Hz while doing so. */
receive_timeout = TIMEOUT_1HZ; receive_timeout = TIMEOUT_INIT_1HZ;
healthy_timeout = TIMEOUT_1HZ;
} }
if (_dump_communication_mode != gps_dump_comm_mode_t::Disabled) { if (_dump_communication_mode != gps_dump_comm_mode_t::Disabled) {
/* Dumping the RTCM3/UBX data requires additional parsing and storing of data via uORB. /* Dumping the RTCM3/UBX data requires additional parsing and storing of data via uORB.
* Without additional time this can lead to timeouts. */ * Without additional time this can lead to timeouts. */
receive_timeout += TIMEOUT_DUMP_ADD; healthy_timeout += TIMEOUT_DUMP_ADD;
} }
while ((helper_ret = _helper->receive(receive_timeout)) > 0 && !should_exit()) { while ((helper_ret = _helper->receive(receive_timeout)) > 0 && !should_exit()) {
@@ -1068,6 +1077,7 @@ GPS::run()
// //
// PX4_WARN("module found: %s", mode_str); // PX4_WARN("module found: %s", mode_str);
_healthy = true; _healthy = true;
receive_timeout = healthy_timeout;
} }
/* Do not wipe the FLASH config multiple times. */ /* Do not wipe the FLASH config multiple times. */