From 2af6358c07fbab0b0d8ded90b73844bc00962114 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 30 May 2024 20:30:29 +0100
Subject: [PATCH] AP_GPS: dynamically allocate config_GNSS

---
 libraries/AP_GPS/AP_GPS_UBLOX.cpp | 11 +++++++++--
 libraries/AP_GPS/AP_GPS_UBLOX.h   |  2 +-
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index fb32e0bf2f..f9308b8fc3 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -273,8 +273,6 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_L5_ovrd_dis[] {
     {ConfigKey::CFG_SIGNAL_L5_HEALTH_OVRD, 0},
 };
 
-AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_GNSS[UBLOX_MAX_GNSS_CONFIG_BLOCKS*3] {};
-
 void
 AP_GPS_UBLOX::_request_next_config(void)
 {
@@ -469,6 +467,7 @@ AP_GPS_UBLOX::_request_next_config(void)
             // special handling of F9 config
             if (cfg_count > 0) {
                 CFG_Debug("Sending F9 settings, GNSS=%u", params.gnss_mode);
+
                 if (!_configure_list_valset(config_GNSS, cfg_count, UBX_VALSET_LAYER_RAM | UBX_VALSET_LAYER_BBR)) {
                     _next_message--;
                     break;
@@ -2314,6 +2313,14 @@ uint8_t AP_GPS_UBLOX::populate_F9_gnss(void)
         // GPS and QZSS should be enabled/disabled together, but we will leave them alone
         // QZSS and SBAS can only be enabled if GPS is enabled
 
+        if (config_GNSS == nullptr) {
+            config_GNSS = (config_list*)calloc(UBLOX_MAX_GNSS_CONFIG_BLOCKS*3, sizeof(config_list));
+        }
+
+        if (config_GNSS == nullptr) {
+            return 0;
+        }
+
         uint8_t gnss_mode = params.gnss_mode;
         gnss_mode |= 1U<<GNSS_GPS;
         gnss_mode |= 1U<<GNSS_QZSS;
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h
index 784bc40ed0..3bff854c32 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.h
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -906,7 +906,7 @@ private:
     static const config_list config_L5_ovrd_ena[];
     static const config_list config_L5_ovrd_dis[];
     // scratch space for GNSS config
-    static config_list config_GNSS[UBLOX_MAX_GNSS_CONFIG_BLOCKS*3];
+    config_list* config_GNSS;
 };
 
 #endif