From db0e43683299c67103f1eb2031cf4b809c064a25 Mon Sep 17 00:00:00 2001
From: John Klug <john.klug@multitech.com>
Date: Mon, 9 Jan 2017 19:15:49 -0600
Subject: Add gps0 symlink and set baud rate

---
 recipes-navigation/gpsd/gpsd/gpsd         | 10 ++++++++++
 recipes-navigation/gpsd/gpsd/gpsd-default |  6 +++++-
 2 files changed, 15 insertions(+), 1 deletion(-)

(limited to 'recipes-navigation')

diff --git a/recipes-navigation/gpsd/gpsd/gpsd b/recipes-navigation/gpsd/gpsd/gpsd
index c0e4c2b..d9cf201 100755
--- a/recipes-navigation/gpsd/gpsd/gpsd
+++ b/recipes-navigation/gpsd/gpsd/gpsd
@@ -43,6 +43,10 @@ if [ -n "$GPSD_SOCKET" ]; then
         GPSD_OPTIONS="$GPSD_OPTIONS -F $GPSD_SOCKET"
 fi
 
+if ! [[ -L /dev/gps${GPS_NUM} ]] ; then
+	ln -s $GPS_LINE /dev/gps${GPS_NUM}
+fi
+
 #
 # Function that starts the daemon/service
 #
@@ -55,6 +59,12 @@ do_start()
 	#   0 if daemon has been started
 	#   1 if daemon was already running
 	#   2 if daemon could not be started
+	# Set the baud rate.  Works better with ntp at a higher baud rate.
+	gpsctl -t 'u-blox' -s $GPS_BAUD -b  -f $GPS_LINE
+	# The next line is needed due to a bug in gpsctl.
+	# We will go back to the default baud rate if we don't do this step.
+	gpsctl -T 2 -f $GPS_LINE
+	stty -F $GPS_LINE $GPS_BAUD
 	/usr/sbin/start-stop-daemon -N -20 --start --quiet --pidfile $PIDFILE --exec $DAEMON --test \
         -- $GPSD_OPTIONS -P $PIDFILE $GPS_DEVICES > /dev/null \
 		|| return 1
diff --git a/recipes-navigation/gpsd/gpsd/gpsd-default b/recipes-navigation/gpsd/gpsd/gpsd-default
index 61ca995..00576d3 100644
--- a/recipes-navigation/gpsd/gpsd/gpsd-default
+++ b/recipes-navigation/gpsd/gpsd/gpsd-default
@@ -3,6 +3,10 @@ GPSD_SOCKET="/var/run/gpsd.sock"
 GPSD_OPTIONS="-n -D 1" 
 
 # Conduit 0.1 GPS devices
-GPS_DEVICES="/dev/ttyXRUSB2 /dev/pps0"
+GPS_LINE=/dev/ttyXRUSB2
+GPS_NUM=0
+# Highest speed permitted by uBlox.
+GPS_BAUD=115200
+GPS_DEVICES="$GPS_LINE /dev/pps0"
 
 GPSD_NOSTART=0
-- 
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