Remove and reduce hard delays.

Author: nseidle

Firmware/RTK_Surveyor/Begin.ino

@@ -98,8 +98,6 @@ void beginBoard()
 
     setMuxport(settings.dataPortChannel); //Set mux to user's choice: NMEA, I2C, PPS, or DAC
 
-    delay(1000);
-
     strcpy(platformFilePrefix, "SFE_Facet");
     strcpy(platformPrefix, "Facet");
   }

Firmware/RTK_Surveyor/Display.ino

@@ -121,7 +121,7 @@ void displaySplash()
     yPos = yPos + fontHeight + 2;
     printTextCenter("RTK", yPos, 1, 1, false);
 
-    yPos = yPos + fontHeight + 4;
+    yPos = yPos + fontHeight + 5;
 
     if (productVariant == RTK_SURVEYOR)
     {

Firmware/RTK_Surveyor/NVM.ino

@@ -312,10 +312,9 @@ bool parseLine(char* str) {
       strcat(settingsFileName, "_Settings.txt");
       sd.remove(settingsFileName);
 
-      Serial.printf("RTK %s has been factory reset via settings file. Freezing. Please restart and open terminal at 115200bps.\n\r", platformPrefix);
-
-      while (1)
-        delay(1); //Prevent CPU freakout
+      Serial.printf("RTK %s has been factory reset via settings file. Unit restarting. Please open terminal at 115200bps.\n\r", platformPrefix);
+      delay(2000);
+      ESP.restart();
     }
 
     //Check to see if this setting file is compatible with this version of RTK Surveyor

Firmware/RTK_Surveyor/States.ino

@@ -274,7 +274,7 @@ void updateSystemState()
               case WL_CONNECTION_LOST: Serial.println(F("WL_CONNECTION_LOST")); break;
               case WL_DISCONNECTED: Serial.println(F("WL_DISCONNECTED")); break;
             }
-            delay(1000);
+            delay(500);
           }
 #endif
         }
@@ -449,7 +449,7 @@ void updateSystemState()
               case WL_CONNECTION_LOST: Serial.println(F("WL_CONNECTION_LOST")); break;
               case WL_DISCONNECTED: Serial.println(F("WL_DISCONNECTED")); break;
             }
-            delay(1000);
+            delay(500);
           }
 #endif
         }

Firmware/RTK_Surveyor/menuBase.ino

@@ -225,19 +225,16 @@ void menuSensorFusion()
     Serial.println();
     Serial.println(F("Menu: Sensor Fusion Menu"));
 
-    if (i2cGNSS.getEsfInfo()) // Poll new ESF STATUS data
-    {
-      Serial.print(F("Fusion Mode: "));
-      Serial.print(i2cGNSS.packetUBXESFSTATUS->data.fusionMode);
-      if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 0)
-        Serial.println(F("Initializing"));
-      else if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 1)
-        Serial.println(F("Calibrated"));
-      else if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 2)
-        Serial.println(F("Suspended"));
-      else if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 3)
-        Serial.println(F("Disabled"));
-    }
+    Serial.print(F("Fusion Mode: "));
+    Serial.print(i2cGNSS.packetUBXESFSTATUS->data.fusionMode);
+    if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 0)
+      Serial.println(F("Initializing"));
+    else if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 1)
+      Serial.println(F("Calibrated"));
+    else if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 2)
+      Serial.println(F("Suspended"));
+    else if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 3)
+      Serial.println(F("Disabled"));
 
     Serial.print(F("1) Toggle Automatic IMU-mount Alignment: "));
     if (settings.autoIMUmountAlignment == true) Serial.println(F("Enabled"));

Firmware/RTK_Surveyor/menuFirmware.ino

@@ -152,7 +152,7 @@ void updateFromSD(const char *firmwareFileName)
       if (firmwareFile.available() < bytesToWrite) bytesToWrite = firmwareFile.available(); //Trim this read size as needed
 
       firmwareFile.read(dataArray, bytesToWrite); //Read the next set of bytes from file into our temp array
-      delay(10); //Give RTOS time
+      delay(1); //Give RTOS time
 
       if (Update.write(dataArray, bytesToWrite) != bytesToWrite)
       {
@@ -161,7 +161,7 @@ void updateFromSD(const char *firmwareFileName)
       }
       else
         bytesWritten += bytesToWrite;
-      delay(10); //Give RTOS time
+      delay(1); //Give RTOS time
 
       //Indicate progress
       if (bytesWritten > barWidth * portionSize)