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AP_GPS_UBLOX: Fix GALILEO auto configuration

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giacomo892 2020-03-21 11:39:02 +01:00 committed by Peter Barker
parent 40a84bc566
commit a245100ae6
1 changed files with 10 additions and 5 deletions
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15
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -979,16 +979,21 @@ AP_GPS_UBLOX::_parse_gps(void)
gnssCount++; gnssCount++;
} }
} }
for(int i = 0; i < _buffer.gnss.numConfigBlocks; i++) { for(int i = 0; i < _buffer.gnss.numConfigBlocks; i++) {
// Reserve an equal portion of channels for all enabled systems // Reserve an equal portion of channels for all enabled systems that supports it
if(gps._gnss_mode[state.instance] & (1 << _buffer.gnss.configBlock[i].gnssId)) { if(gps._gnss_mode[state.instance] & (1 << _buffer.gnss.configBlock[i].gnssId)) {
if(GNSS_SBAS !=_buffer.gnss.configBlock[i].gnssId) { if(GNSS_SBAS !=_buffer.gnss.configBlock[i].gnssId && (_hardware_generation > UBLOX_M8 || GNSS_GALILEO !=_buffer.gnss.configBlock[i].gnssId)) {
_buffer.gnss.configBlock[i].resTrkCh = (_buffer.gnss.numTrkChHw - 3) / (gnssCount * 2); _buffer.gnss.configBlock[i].resTrkCh = (_buffer.gnss.numTrkChHw - 3) / (gnssCount * 2);
_buffer.gnss.configBlock[i].maxTrkCh = _buffer.gnss.numTrkChHw; _buffer.gnss.configBlock[i].maxTrkCh = _buffer.gnss.numTrkChHw;
} else { } else {
_buffer.gnss.configBlock[i].resTrkCh = 1; if(GNSS_SBAS ==_buffer.gnss.configBlock[i].gnssId) {
_buffer.gnss.configBlock[i].maxTrkCh = 3; _buffer.gnss.configBlock[i].resTrkCh = 1;
_buffer.gnss.configBlock[i].maxTrkCh = 3;
}
if(GNSS_GALILEO ==_buffer.gnss.configBlock[i].gnssId) {
_buffer.gnss.configBlock[i].resTrkCh = (_buffer.gnss.numTrkChHw - 3) / (gnssCount * 2);
_buffer.gnss.configBlock[i].maxTrkCh = 8; //Per the M8 receiver description UBX-13003221 - R16, 4.1.1.3 it is not recommended to set the number of galileo channels higher then eigh
}
} }
_buffer.gnss.configBlock[i].flags = _buffer.gnss.configBlock[i].flags | 0x00000001; _buffer.gnss.configBlock[i].flags = _buffer.gnss.configBlock[i].flags | 0x00000001;
} else { } else {