From bb168287da30959c345212838dbaf92de1fab207 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 13 Apr 2017 11:56:16 +0200
Subject: [PATCH] gps: just use termios on QURT

QURT has added support for termios calls a while back that we can now
use.
---
 src/drivers/gps/gps.cpp | 38 ++------------------------------------
 1 file changed, 2 insertions(+), 36 deletions(-)

diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index fe3b624aa4..c4c3de5967 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -42,12 +42,10 @@
 #endif
 
 
-#ifndef __PX4_QURT
 #include <termios.h>
+
+#ifndef __PX4_QURT
 #include <poll.h>
-#else
-#include <sys/ioctl.h>
-#include <dev_fs_lib_serial.h>
 #endif
 
 
@@ -476,37 +474,6 @@ bool GPS::injectData(uint8_t *data, size_t len)
 
 int GPS::setBaudrate(unsigned baud)
 {
-
-#if __PX4_QURT
-	// TODO: currently QURT does not support configuration with termios.
-	dspal_serial_ioctl_data_rate data_rate;
-
-	switch (baud) {
-	case 9600: data_rate.bit_rate = DSPAL_SIO_BITRATE_9600; break;
-
-	case 19200: data_rate.bit_rate = DSPAL_SIO_BITRATE_19200; break;
-
-	case 38400: data_rate.bit_rate = DSPAL_SIO_BITRATE_38400; break;
-
-	case 57600: data_rate.bit_rate = DSPAL_SIO_BITRATE_57600; break;
-
-	case 115200: data_rate.bit_rate = DSPAL_SIO_BITRATE_115200; break;
-
-	case 230400: data_rate.bit_rate = DSPAL_SIO_BITRATE_230400; break;
-
-	default:
-		PX4_ERR("ERR: unknown baudrate: %d", baud);
-		return -EINVAL;
-	}
-
-	int ret = ::ioctl(_serial_fd, SERIAL_IOCTL_SET_DATA_RATE, (void *)&data_rate);
-
-	if (ret != 0) {
-
-		return ret;
-	}
-
-#else
 	/* process baud rate */
 	int speed;
 
@@ -586,7 +553,6 @@ int GPS::setBaudrate(unsigned baud)
 		return -1;
 	}
 
-#endif
 	return 0;
 }