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AP_GPS: dynamically allocate config_GNSS

This commit is contained in:
Andy Piper 2024-05-30 20:30:29 +01:00 committed by Andrew Tridgell
parent 90f7222f98
commit 2af6358c07
2 changed files with 10 additions and 3 deletions
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11
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -273,8 +273,6 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_L5_ovrd_dis[] {
{ConfigKey::CFG_SIGNAL_L5_HEALTH_OVRD, 0},
};
AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_GNSS[UBLOX_MAX_GNSS_CONFIG_BLOCKS*3] {};
void
AP_GPS_UBLOX::_request_next_config(void)
{
@ -469,6 +467,7 @@ AP_GPS_UBLOX::_request_next_config(void)
// special handling of F9 config
if (cfg_count > 0) {
CFG_Debug("Sending F9 settings, GNSS=%u", params.gnss_mode);
if (!_configure_list_valset(config_GNSS, cfg_count, UBX_VALSET_LAYER_RAM | UBX_VALSET_LAYER_BBR)) {
_next_message--;
break;
@ -2314,6 +2313,14 @@ uint8_t AP_GPS_UBLOX::populate_F9_gnss(void)
// GPS and QZSS should be enabled/disabled together, but we will leave them alone
// QZSS and SBAS can only be enabled if GPS is enabled
if (config_GNSS == nullptr) {
config_GNSS = (config_list*)calloc(UBLOX_MAX_GNSS_CONFIG_BLOCKS*3, sizeof(config_list));
}
if (config_GNSS == nullptr) {
return 0;
}
uint8_t gnss_mode = params.gnss_mode;
gnss_mode |= 1U<<GNSS_GPS;
gnss_mode |= 1U<<GNSS_QZSS;

2
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -906,7 +906,7 @@ private:
static const config_list config_L5_ovrd_ena[];
static const config_list config_L5_ovrd_dis[];
// scratch space for GNSS config
static config_list config_GNSS[UBLOX_MAX_GNSS_CONFIG_BLOCKS*3];
config_list* config_GNSS;
};
#endif