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AP_GPS: fixed TMODE config issue on non-F9 GPS

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thanks to Michel Pastor for reporting this
This commit is contained in:
Andrew Tridgell 2019-11-12 22:03:37 +11:00
parent 49069c7ad5
commit 7bec9d87b4
2 changed files with 5 additions and 1 deletions
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4
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -931,6 +931,10 @@ AP_GPS_UBLOX::_parse_gps(void)
// check for F9. The F9 does not respond to SVINFO, so we need to use MON_VER
// for hardware generation
if (strncmp(_version.hwVersion, "00190000", 8) == 0) {
if (_hardware_generation != UBLOX_F9) {
// need to ensure time mode is correctly setup on F9
_unconfigured_messages |= CONFIG_TMODE_MODE;
}
_hardware_generation = UBLOX_F9;
}
break;

2
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -84,7 +84,7 @@
#define CONFIG_ALL (CONFIG_RATE_NAV | CONFIG_RATE_POSLLH | CONFIG_RATE_STATUS | CONFIG_RATE_SOL | CONFIG_RATE_VELNED \
| CONFIG_RATE_DOP | CONFIG_RATE_MON_HW | CONFIG_RATE_MON_HW2 | CONFIG_RATE_RAW | CONFIG_VERSION \
| CONFIG_NAV_SETTINGS | CONFIG_GNSS | CONFIG_SBAS | CONFIG_TMODE_MODE)
| CONFIG_NAV_SETTINGS | CONFIG_GNSS | CONFIG_SBAS)
//Configuration Sub-Sections
#define SAVE_CFG_IO (1<<0)