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AP_GPS: Ublox: Skip SBAS request if we don't want to alter it

This commit is contained in:
Michael du Breuil 2016-11-20 20:57:19 -07:00 committed by Randy Mackay
parent b7f95d9c25
commit d97861d685
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -114,7 +114,11 @@ AP_GPS_UBLOX::_request_next_config(void)
}
break;
case STEP_POLL_SBAS:
_send_message(CLASS_CFG, MSG_CFG_SBAS, nullptr, 0);
if (gps._sbas_mode != 2) {
_send_message(CLASS_CFG, MSG_CFG_SBAS, nullptr, 0);
} else {
_unconfigured_messages &= ~CONFIG_SBAS;
}
break;
case STEP_POLL_NAV:
_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS, nullptr, 0);