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AP_GPS: fixed pre-arm check on ublox M9 GPS 

this prevents a failure from config of SOL and TMODE messages
This commit is contained in:
Andrew Tridgell 2020-10-05 15:23:24 +11:00
parent 93eb226cdc
commit 8d284938db
2 changed files with 19 additions and 8 deletions
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24
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -1176,15 +1176,24 @@ AP_GPS_UBLOX::_parse_gps(void)
state.instance + 1,
_version.hwVersion,
_version.swVersion);
// check for F9. The F9 does not respond to SVINFO, so we need to use MON_VER
// for hardware generation
// check for F9 and M9. 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;
if (strncmp(_version.swVersion, "EXT CORE 1", 10) == 0) {
// a F9
if (_hardware_generation != UBLOX_F9) {
// need to ensure time mode is correctly setup on F9
_unconfigured_messages |= CONFIG_TMODE_MODE;
}
_hardware_generation = UBLOX_F9;
}
if (strncmp(_version.swVersion, "EXT CORE 4", 10) == 0) {
// a M9
_hardware_generation = UBLOX_M9;
}
_hardware_generation = UBLOX_F9;
}
// none of the 9 series support the SOL message
_unconfigured_messages &= ~CONFIG_RATE_SOL;
break;
default:
unexpected_message();
@ -1874,6 +1883,7 @@ bool AP_GPS_UBLOX::get_lag(float &lag_sec) const
lag_sec = 0.12f;
break;
case UBLOX_F9:
case UBLOX_M9:
// F9 lag not verified yet from flight log, but likely to be at least
// as good as M8
lag_sec = 0.12f;
@ -1960,5 +1970,5 @@ bool AP_GPS_UBLOX::is_healthy(void) const
// return true if GPS is capable of F9 config
bool AP_GPS_UBLOX::supports_F9_config(void) const
{
return _hardware_generation >= UBLOX_F9 && _hardware_generation != UBLOX_UNKNOWN_HARDWARE_GENERATION;
return _hardware_generation == UBLOX_F9 && _hardware_generation != UBLOX_UNKNOWN_HARDWARE_GENERATION;
}

3
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -626,7 +626,8 @@ private:
UBLOX_6,
UBLOX_7,
UBLOX_M8,
UBLOX_F9 = 0x80, // comes from MON_VER hwVersion string
UBLOX_F9 = 0x80, // comes from MON_VER hwVersion/swVersion strings
UBLOX_M9 = 0x81, // comes from MON_VER hwVersion/swVersion strings
UBLOX_UNKNOWN_HARDWARE_GENERATION = 0xff // not in the ublox spec used for
// flagging state in the driver
};