From 9f4ab28352c0b5a3f2d12bf28cd31bd70a72a7bd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 30 Jul 2015 10:21:42 +1000
Subject: [PATCH] AP_GPS: re-enable SBAS config on APM2 for uBlox

---
 libraries/AP_GPS/AP_GPS_UBLOX.cpp | 2 +-
 libraries/AP_GPS/AP_GPS_UBLOX.h   | 4 +---
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index 868e0d4b26..c79014c640 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -484,6 +484,7 @@ AP_GPS_UBLOX::_parse_gps(void)
         _send_message(CLASS_CFG, MSG_CFG_GNSS, &_buffer.gnss, 4 + (8 * _buffer.gnss.numConfigBlocks));
         return false;
     }
+#endif
 
     if (_class == CLASS_CFG && _msg_id == MSG_CFG_SBAS && gps._sbas_mode != 2) {
 		Debug("Got SBAS settings %u %u %u 0x%x 0x%x\n", 
@@ -499,7 +500,6 @@ AP_GPS_UBLOX::_parse_gps(void)
                           sizeof(_buffer.sbas));
         }
     }
-#endif
 
 #if UBLOX_HW_LOGGING
     if (_class == CLASS_MON) {
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h
index 13d6c5b9b9..7227b6ceee 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.h
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -119,7 +119,6 @@ private:
         uint32_t res3;
         uint32_t res4;
     };
-#if UBLOX_GNSS_SETTINGS
     struct PACKED ubx_cfg_sbas {
         uint8_t mode;
         uint8_t usage;
@@ -127,7 +126,6 @@ private:
         uint8_t scanmode2;
         uint32_t scanmode1;
     };
-#endif
     struct PACKED ubx_nav_posllh {
         uint32_t time;                                  // GPS msToW
         int32_t longitude;
@@ -303,8 +301,8 @@ private:
 #endif
 #if UBLOX_GNSS_SETTINGS
         ubx_cfg_gnss gnss;
-        ubx_cfg_sbas sbas;
 #endif
+        ubx_cfg_sbas sbas;
         ubx_nav_svinfo_header svinfo_header;
 #if UBLOX_RXM_RAW_LOGGING
         ubx_rxm_raw rxm_raw;