From 76d072591b152c5a481e2800f95dab7ecebf529a Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Thu, 16 Jun 2011 16:33:08 +0000
Subject: [PATCH] made timeout public, settable

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2563 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/AP_GPS/AP_GPS_Auto.cpp |  1 +
 libraries/AP_GPS/GPS.cpp         |  4 ++--
 libraries/AP_GPS/GPS.h           | 27 ++++++++++++++-------------
 3 files changed, 17 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_Auto.cpp b/libraries/AP_GPS/AP_GPS_Auto.cpp
index 89c194983e..b411fe408e 100644
--- a/libraries/AP_GPS/AP_GPS_Auto.cpp
+++ b/libraries/AP_GPS/AP_GPS_Auto.cpp
@@ -36,6 +36,7 @@ AP_GPS_Auto::AP_GPS_Auto(FastSerial *s, GPS **gps)  :
 void
 AP_GPS_Auto::init(void)
 {
+	idleTimeout = 1200;
 }
 
 // Called the first time that a client tries to kick the GPS to update.
diff --git a/libraries/AP_GPS/GPS.cpp b/libraries/AP_GPS/GPS.cpp
index ad0a4d5ce4..55fbdcde19 100644
--- a/libraries/AP_GPS/GPS.cpp
+++ b/libraries/AP_GPS/GPS.cpp
@@ -13,7 +13,7 @@ GPS::update(void)
 
 	// if we did not get a message, and the idle timer has expired, re-init
 	if (!result) {
-		if ((millis() - _idleTimer) > _idleTimeout) {
+		if ((millis() - _idleTimer) > idleTimeout) {
 			_status = NO_GPS;
 			init();
 
@@ -32,7 +32,7 @@ GPS::update(void)
 	}
 }
 
-void 
+void
 GPS::setHIL(long _time, float _latitude, float _longitude, float _altitude,
             float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats)
 {
diff --git a/libraries/AP_GPS/GPS.h b/libraries/AP_GPS/GPS.h
index 52c0c98176..02d5632b5f 100644
--- a/libraries/AP_GPS/GPS.h
+++ b/libraries/AP_GPS/GPS.h
@@ -46,12 +46,12 @@ public:
 	/// GPS time epoch codes
 	///
 	enum	GPS_Time_Epoch {
-			TIME_OF_DAY 	= 0,		///< 
+			TIME_OF_DAY 	= 0,		///<
 			TIME_OF_WEEK 	= 1,		///< Ublox
 			TIME_OF_YEAR 	= 2,		///< MTK, NMEA
 			UNIX_EPOCH	 	= 3			///< If available
-	};									///< SIFR?  
-	
+	};									///< SIFR?
+
 
 	/// Query GPS time epoch
 	///
@@ -91,11 +91,19 @@ public:
 
 	// Debug support
 	bool	print_errors; 	///< deprecated
-	
+
 	// HIL support
 	virtual void setHIL(long time, float latitude, float longitude, float altitude,
             float ground_speed, float ground_course, float speed_3d, uint8_t num_sats);
 
+	/// Time in milliseconds after which we will assume the GPS is no longer
+	/// sending us updates and attempt a re-init.
+	///
+	/// 1200ms allows a small amount of slack over the worst-case 1Hz update
+	/// rate.
+	///
+	unsigned long	idleTimeout;
+
 protected:
 	Stream	*_port;			///< port the GPS is attached to
 
@@ -142,19 +150,12 @@ protected:
 	///       printf vs. the potential benefits
 	///
 	void			_error(const char *msg);
-	
+
 	/// Time epoch code for the gps in use
 	GPS_Time_Epoch				_epoch;
 
 private:
 
-	/// Time in milliseconds after which we will assume the GPS is no longer
-	/// sending us updates and attempt a re-init.
-	///
-	/// 1200ms allows a small amount of slack over the worst-case 1Hz update
-	/// rate.
-	///
-	static const unsigned long	_idleTimeout = 1200;
 
 	/// Last time that the GPS driver got a good packet from the GPS
 	///
@@ -162,7 +163,7 @@ private:
 
 	/// Our current status
 	GPS_Status					_status;
-	
+
 };
 
 inline long