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AP_GPS_UBlox: send_next_rate_update always runs all steps

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Moving the if, endif checks within the case statement ensures the state
machine goes through all 10 states
This commit is contained in:
Randy Mackay 2015-07-14 14:26:51 +09:00
parent 4b015d2091
commit 2c33250bee
1 changed files with 13 additions and 6 deletions
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19
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -112,29 +112,36 @@ AP_GPS_UBLOX::send_next_rate_update(void)
case 5:
_configure_message_rate(CLASS_NAV, MSG_DOP, 1); // 18+8 bytes
break;
#if UBLOX_HW_LOGGING
case 6:
#if UBLOX_HW_LOGGING
// gather MON_HW at 0.5Hz
_configure_message_rate(CLASS_MON, MSG_MON_HW, 2); // 64+8 bytes
#endif
break;
case 7:
#if UBLOX_HW_LOGGING
// gather MON_HW2 at 0.5Hz
_configure_message_rate(CLASS_MON, MSG_MON_HW2, 2); // 24+8 bytes
break;
#endif
#if UBLOX_RXM_RAW_LOGGING
break;
case 8:
#if UBLOX_RXM_RAW_LOGGING
_configure_message_rate(CLASS_RXM, MSG_RXM_RAW, gps._raw_data);
#endif
break;
case 9:
#if UBLOX_RXM_RAW_LOGGING
_configure_message_rate(CLASS_RXM, MSG_RXM_RAWX, gps._raw_data);
break;
#endif
#if UBLOX_VERSION_AUTODETECTION
break;
case 10:
#if UBLOX_VERSION_AUTODETECTION
_request_version();
break;
#endif
break;
default:
need_rate_update = false;
rate_update_step = 0;