From 661d1500d287051c23a0d701736be49d9c770d9a Mon Sep 17 00:00:00 2001
From: Craig Elder <Craig@3DRobotics.com>
Date: Tue, 21 Aug 2012 15:58:22 -0700
Subject: [PATCH] GPS: Corrections to Media Tek GPS Driver.  Change to 5Hz and
 SBAS

---
 libraries/AP_GPS/AP_GPS_MTK.cpp      | 12 +++++++++---
 libraries/AP_GPS/AP_GPS_MTK.h        |  4 +++-
 libraries/AP_GPS/AP_GPS_MTK16.cpp    | 12 +++++++++---
 libraries/AP_GPS/AP_GPS_MTK_Common.h |  2 +-
 4 files changed, 22 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_MTK.cpp b/libraries/AP_GPS/AP_GPS_MTK.cpp
index 817940309f..320724c211 100644
--- a/libraries/AP_GPS/AP_GPS_MTK.cpp
+++ b/libraries/AP_GPS/AP_GPS_MTK.cpp
@@ -28,8 +28,14 @@ AP_GPS_MTK::init(enum GPS_Engine_Setting nav_setting)
     // XXX should assume binary, let GPS_AUTO handle dynamic config?
     _port->print(MTK_SET_BINARY);
 
-    // set 4Hz update rate
-    _port->print(MTK_OUTPUT_4HZ);
+    // set 5Hz update rate
+    _port->print(MTK_OUTPUT_5HZ);
+	
+	// set SBAS on
+	_port->print(SBAS_ON);
+		
+	// set WAAS on
+	_port->print(WAAS_ON);
 
     // set initial epoch code
     _epoch = TIME_OF_DAY;
@@ -129,7 +135,7 @@ restart:
                 break;
             }
 
-            fix				= (_buffer.msg.fix_type == FIX_3D);
+            fix				= ((_buffer.msg.fix_type == FIX_3D) || (_buffer.msg.fix_type == FIX_3D_SBAS);
             latitude		= _swapl(&_buffer.msg.latitude)  * 10;
             longitude		= _swapl(&_buffer.msg.longitude) * 10;
             altitude		= _swapl(&_buffer.msg.altitude);
diff --git a/libraries/AP_GPS/AP_GPS_MTK.h b/libraries/AP_GPS/AP_GPS_MTK.h
index 1f13fb4e83..a221386f87 100644
--- a/libraries/AP_GPS/AP_GPS_MTK.h
+++ b/libraries/AP_GPS/AP_GPS_MTK.h
@@ -40,7 +40,9 @@ private:
     enum diyd_mtk_fix_type {
         FIX_NONE = 1,
         FIX_2D = 2,
-        FIX_3D = 3
+        FIX_3D = 3,
+		FIX_3D_SBAS = 6,
+		FIX_3D_SBAS =7
     };
 
     enum diyd_mtk_protocol_bytes {
diff --git a/libraries/AP_GPS/AP_GPS_MTK16.cpp b/libraries/AP_GPS/AP_GPS_MTK16.cpp
index cdd637e390..1985250d9b 100644
--- a/libraries/AP_GPS/AP_GPS_MTK16.cpp
+++ b/libraries/AP_GPS/AP_GPS_MTK16.cpp
@@ -34,9 +34,15 @@ AP_GPS_MTK16::init(enum GPS_Engine_Setting nav_setting)
     // XXX should assume binary, let GPS_AUTO handle dynamic config?
     _port->print(MTK_SET_BINARY);
 
-    // set 4Hz update rate
-    _port->print(MTK_OUTPUT_4HZ);
+    // set 5Hz update rate
+    _port->print(MTK_OUTPUT_5HZ);
 
+	// set SBAS on
+	_port->print(SBAS_ON);
+	
+	// set WAAS on
+	_port->print(WAAS_ON);
+	
     // set initial epoch code
     _epoch = TIME_OF_DAY;
     _time_offset = 0;
@@ -125,7 +131,7 @@ restart:
                 break;
             }
 
-            fix				= _buffer.msg.fix_type == FIX_3D;
+            fix				= ((_buffer.msg.fix_type == FIX_3D) || (_buffer.msg.fix_type == FIX_3D_SBAS);
             latitude		= _buffer.msg.latitude  * 10;	// XXX doc says *10e7 but device says otherwise
             longitude		= _buffer.msg.longitude * 10;	// XXX doc says *10e7 but device says otherwise
             altitude		= _buffer.msg.altitude;
diff --git a/libraries/AP_GPS/AP_GPS_MTK_Common.h b/libraries/AP_GPS/AP_GPS_MTK_Common.h
index 68ef91dd3e..06338600a1 100644
--- a/libraries/AP_GPS/AP_GPS_MTK_Common.h
+++ b/libraries/AP_GPS/AP_GPS_MTK_Common.h
@@ -19,7 +19,7 @@
 #define MTK_OUTPUT_1HZ	"$PMTK220,1000*1F\r\n"
 #define MTK_OUTPUT_2HZ	"$PMTK220,500*2B\r\n"
 #define MTK_OUTPUT_4HZ	"$PMTK220,250*29\r\n"
-#define MTK_OTUPUT_5HZ	"$PMTK220,200*2C\r\n"
+#define MTK_OUTPUT_5HZ	"$PMTK220,200*2C\r\n"
 #define MTK_OUTPUT_10HZ	"$PMTK220,100*2F\r\n"
 
 #define MTK_BAUD_RATE_38400 "$PMTK251,38400*27\r\n"