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AP_GPS: leave uart2 config enabled when using uart2 MB setup

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This commit is contained in:
Andrew Tridgell 2020-04-18 14:02:40 +10:00
parent f3a5d915f3
commit 6347d0adb0
1 changed files with 0 additions and 10 deletions
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10
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -115,11 +115,8 @@ AP_GPS_UBLOX::~AP_GPS_UBLOX()
See ZED-F9P integration manual section 3.1.5.6.1
*/
const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Base_uart1[] {
{ ConfigKey::CFG_UART2_ENABLED, 0},
{ ConfigKey::CFG_UART1OUTPROT_RTCM3X, 1},
{ ConfigKey::CFG_UART2OUTPROT_RTCM3X, 0},
{ ConfigKey::CFG_UART2OUTPROT_UBX, 0},
{ ConfigKey::CFG_UART2OUTPROT_NMEA, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART1, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART1, RTK_MB_RTCM_RATE},
@ -142,8 +139,6 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Base_uart2[] {
{ ConfigKey::CFG_UART2_ENABLED, 1},
{ ConfigKey::CFG_UART2_BAUDRATE, 460800},
{ ConfigKey::CFG_UART2OUTPROT_RTCM3X, 1},
{ ConfigKey::CFG_UART2OUTPROT_UBX, 0},
{ ConfigKey::CFG_UART2OUTPROT_NMEA, 0},
{ ConfigKey::CFG_UART1OUTPROT_RTCM3X, 0},
{ ConfigKey::CFG_UART1INPROT_RTCM3X, 1},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART2, 0},
@ -172,10 +167,7 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Base_uart2[] {
data from a GPS previously configured as a base
*/
const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Rover_uart1[] {
{ ConfigKey::CFG_UART2_ENABLED, 0},
{ ConfigKey::CFG_UART2OUTPROT_RTCM3X, 0},
{ ConfigKey::CFG_UART2OUTPROT_UBX, 0},
{ ConfigKey::CFG_UART2OUTPROT_NMEA, 0},
{ ConfigKey::CFG_UART1INPROT_RTCM3X, 1},
{ ConfigKey::CFG_UART2INPROT_RTCM3X, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART1, 1},
@ -200,8 +192,6 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Rover_uart2[] {
{ ConfigKey::CFG_UART2_ENABLED, 1},
{ ConfigKey::CFG_UART2_BAUDRATE, 460800},
{ ConfigKey::CFG_UART2OUTPROT_RTCM3X, 0},
{ ConfigKey::CFG_UART2OUTPROT_UBX, 0},
{ ConfigKey::CFG_UART2OUTPROT_NMEA, 0},
{ ConfigKey::CFG_UART2INPROT_RTCM3X, 1},
{ ConfigKey::CFG_UART1INPROT_RTCM3X, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART1, 1},