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AP_GPS: set L5 config only on BBR and RAM

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bugobliterator 2023-11-23 14:23:03 +11:00 committed by Andrew Tridgell
parent 78b0ddcf45
commit 55a922563b
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -245,8 +245,8 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_M10[] {
config changes for L5 modules
*/
const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_L5_ovrd_ena[] {
{ConfigKey::CFG_SIGNAL_GPS_L5_ENA, 1},
{ConfigKey::CFG_SIGNAL_L5_HEALTH_OVRD, 1},
{ConfigKey::CFG_SIGNAL_GPS_L5_ENA, 1},
};
const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_L5_ovrd_dis[] {
@ -453,13 +453,13 @@ AP_GPS_UBLOX::_request_next_config(void)
if (supports_l5 && option_set(AP_GPS::DriverOptions::GPSL5HealthOverride)) {
const config_list *list = config_L5_ovrd_ena;
const uint8_t list_length = ARRAY_SIZE(config_L5_ovrd_ena);
if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_ALL)) {
if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_RAM | UBX_VALSET_LAYER_BBR)) {
_next_message--;
}
} else if (supports_l5 && !option_set(AP_GPS::DriverOptions::GPSL5HealthOverride)) {
const config_list *list = config_L5_ovrd_dis;
const uint8_t list_length = ARRAY_SIZE(config_L5_ovrd_dis);
if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_ALL)) {
if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_RAM | UBX_VALSET_LAYER_BBR)) {
_next_message--;
}
}