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AP_GPS: Force ublox baud rate if we are allowed to config the GPS

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Michael du Breuil 2017-01-25 12:26:55 -07:00 committed by Randy Mackay
parent 7c96f8e6a2
commit 0cf41c9288
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_GPS/AP_GPS.cpp
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@ -364,11 +364,12 @@ AP_GPS::detect_instance(uint8_t instance)
running a uBlox at less than 38400 will lead to packet
corruption, as we can't receive the packets in the 200ms
window for 5Hz fixes. The NMEA startup message should force
the uBlox into 38400 no matter what rate it is configured
the uBlox into 115200 no matter what rate it is configured
for.
*/
if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_UBLOX) &&
_baudrates[dstate->current_baud] >= 38400 &&
((!_auto_config && _baudrates[dstate->current_baud] >= 38400) ||
_baudrates[dstate->current_baud] == 115200) &&
AP_GPS_UBLOX::_detect(dstate->ublox_detect_state, data)) {
_broadcast_gps_type("u-blox", instance, dstate->current_baud);
new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance]);