Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: fixed unconfigured uBlox pre-arm 

when GPS_GNSS_MODE is zero (the default) we could get stuck trying to
configure the GNSS for F9P
This commit is contained in:
Andrew Tridgell 2024-08-11 11:47:33 +10:00
parent 8c6a427107
commit d225683d69
1 changed files with 8 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -2303,7 +2303,14 @@ bool AP_GPS_UBLOX::is_healthy(void) const
uint8_t AP_GPS_UBLOX::populate_F9_gnss(void)
{
uint8_t cfg_count = 0;
if (params.gnss_mode != 0 && (_unconfigured_messages & CONFIG_F9)) {
if (params.gnss_mode == 0) {
_unconfigured_messages &= ~CONFIG_F9;
last_configured_gnss = params.gnss_mode;
return 0;
}
if ((_unconfigured_messages & CONFIG_F9) != 0) {
// ZED-F9P defaults are
// GPS L1C/A+L2C(ZED)
// SBAS L1C/A