From 7bec9d87b4767ede2d39a628e1900d2a015779d8 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 12 Nov 2019 22:03:37 +1100 Subject: [PATCH] AP_GPS: fixed TMODE config issue on non-F9 GPS thanks to Michel Pastor for reporting this --- libraries/AP_GPS/AP_GPS_UBLOX.cpp | 4 ++++ libraries/AP_GPS/AP_GPS_UBLOX.h | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp index 9b4b7980a7..37149abaef 100644 --- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp +++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp @@ -931,6 +931,10 @@ AP_GPS_UBLOX::_parse_gps(void) // check for F9. The F9 does not respond to SVINFO, so we need to use MON_VER // for hardware generation if (strncmp(_version.hwVersion, "00190000", 8) == 0) { + if (_hardware_generation != UBLOX_F9) { + // need to ensure time mode is correctly setup on F9 + _unconfigured_messages |= CONFIG_TMODE_MODE; + } _hardware_generation = UBLOX_F9; } break; diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h index 292ee992df..c35657abf4 100644 --- a/libraries/AP_GPS/AP_GPS_UBLOX.h +++ b/libraries/AP_GPS/AP_GPS_UBLOX.h @@ -84,7 +84,7 @@ #define CONFIG_ALL (CONFIG_RATE_NAV | CONFIG_RATE_POSLLH | CONFIG_RATE_STATUS | CONFIG_RATE_SOL | CONFIG_RATE_VELNED \ | CONFIG_RATE_DOP | CONFIG_RATE_MON_HW | CONFIG_RATE_MON_HW2 | CONFIG_RATE_RAW | CONFIG_VERSION \ - | CONFIG_NAV_SETTINGS | CONFIG_GNSS | CONFIG_SBAS | CONFIG_TMODE_MODE) + | CONFIG_NAV_SETTINGS | CONFIG_GNSS | CONFIG_SBAS) //Configuration Sub-Sections #define SAVE_CFG_IO (1<<0)