diff options
| -rw-r--r-- | host/lib/usrp/gps_ctrl.cpp | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp index 8c177382a..c3af75faa 100644 --- a/host/lib/usrp/gps_ctrl.cpp +++ b/host/lib/usrp/gps_ctrl.cpp @@ -303,13 +303,22 @@ private: } std::string get_servo(void) { + + //enable servo reporting + _send("SERV:TRAC 1\n"); + sleep(milliseconds(FIREFLY_STUPID_DELAY_MS)); + std::string reply; const boost::system_time comm_timeout = boost::get_system_time() + milliseconds(GPS_COMM_TIMEOUT_MS); while(boost::get_system_time() < comm_timeout) { - reply = get_cached_sensor("SERVO", GPS_SERVO_FRESHNESS, false); + reply = get_cached_sensor("SERVO", GPS_NMEA_LOW_FRESHNESS, false); if(reply.size()) - return reply; + { + //disable it before leaving function + _send("SERV:TRAC 0\n"); + return reply; + } boost::this_thread::sleep(milliseconds(GPS_TIMEOUT_DELAY_MS)); } throw uhd::value_error("get_stat(): no servo message found"); |