From a91af123640d471e536b2dabcd33aaed84c169df Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 6 Jul 2019 08:33:15 +1000
Subject: [PATCH] AP_GPS: fixed u-blox F9 auto configuration

# Conflicts:
#	libraries/AP_GPS/AP_GPS_UBLOX.cpp
---
 libraries/AP_GPS/AP_GPS_UBLOX.cpp | 23 +++++++++++++++++++++--
 libraries/AP_GPS/AP_GPS_UBLOX.h   |  1 +
 2 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index cec0dab3d6..cbd146dc4d 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -73,7 +73,15 @@ AP_GPS_UBLOX::_request_next_config(void)
         return;
     }
 
-   Debug("Unconfigured messages: %d Current message: %d\n", _unconfigured_messages, _next_message);
+    if (_unconfigured_messages == CONFIG_RATE_SOL && havePvtMsg) {
+        /*
+          we don't need SOL if we have PVT and TIMEGPS. This is needed
+          as F9P doesn't support the SOL message
+         */
+        _unconfigured_messages &= ~CONFIG_RATE_SOL;
+    }
+
+    Debug("Unconfigured messages: 0x%x Current message: %u\n", (unsigned)_unconfigured_messages, (unsigned)_next_message);
 
    // check AP_GPS_UBLOX.h for the enum that controls the order.
    // This switch statement isn't maintained against the enum in order to reduce code churn
@@ -819,6 +827,11 @@ 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
+            if (strncmp(_version.hwVersion, "00190000", 8) == 0) {
+                _hardware_generation = UBLOX_F9;
+            }
             break;
         default:
             unexpected_message();
@@ -1034,8 +1047,9 @@ AP_GPS_UBLOX::_parse_gps(void)
         break;
     case MSG_TIMEGPS:
         Debug("MSG_TIMEGPS");
-        if (_buffer.timegps.valid & UBX_TIMEGPS_VALID_WEEK_MASK)
+        if (_buffer.timegps.valid & UBX_TIMEGPS_VALID_WEEK_MASK) {
             state.time_week = _buffer.timegps.week;
+        }
         break;
     case MSG_VELNED:
         Debug("MSG_VELNED");
@@ -1334,6 +1348,11 @@ bool AP_GPS_UBLOX::get_lag(float &lag_sec) const
         // based on flight logs the 7 and 8 series seem to produce about 120ms lag
         lag_sec = 0.12f;
         break;
+    case UBLOX_F9:
+        // F9 lag not verified yet from flight log, but likely to be at least
+        // as good as M8
+        lag_sec = 0.12f;
+        break;
     };
     return true;
 }
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h
index c9dd5b8ce3..51be0569fb 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.h
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -494,6 +494,7 @@ private:
         UBLOX_6,
         UBLOX_7,
         UBLOX_M8,
+        UBLOX_F9 = 0x80, // comes from MON_VER hwVersion string
         UBLOX_UNKNOWN_HARDWARE_GENERATION = 0xff // not in the ublox spec used for
                                                  // flagging state in the driver
     };