From a62a71f48f3d40bba6e9af114a185f6bbad849b1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 7 Jun 2018 13:15:49 +0200
Subject: [PATCH] gps: reopen the gps port on failed auto-detection
work-around for https://github.com/PX4/Firmware/issues/9461
---
src/drivers/gps/gps.cpp | 11 +++++++++++
1 file changed, 11 insertions(+)
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index f8755d8bc7..28df516af8 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -788,6 +788,17 @@ GPS::run()
case GPS_DRIVER_MODE_ASHTECH:
_mode = GPS_DRIVER_MODE_UBX;
usleep(500000); // tried all possible drivers. Wait a bit before next round
+
+ //FIXME: reopen the uart to work around an issue where the gps is not detected
+ // sometimes on startup on the mRo X2.1 board (see https://github.com/PX4/Firmware/issues/9461)
+ close(_serial_fd);
+ _serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
+
+ if (_serial_fd < 0) {
+ PX4_ERR("failed to reopen the UART (%i)", errno);
+ request_stop();
+ }
+
break;
default:
--
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