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AP_GPS: re-enable SBAS config on APM2 for uBlox

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Andrew Tridgell 2015-07-30 10:21:42 +10:00 committed by Randy Mackay
parent 27a098be9f
commit 9f4ab28352
2 changed files with 2 additions and 4 deletions
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2
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -484,6 +484,7 @@ AP_GPS_UBLOX::_parse_gps(void)
_send_message(CLASS_CFG, MSG_CFG_GNSS, &_buffer.gnss, 4 + (8 * _buffer.gnss.numConfigBlocks)); _send_message(CLASS_CFG, MSG_CFG_GNSS, &_buffer.gnss, 4 + (8 * _buffer.gnss.numConfigBlocks));
return false; return false;
} }
#endif
if (_class == CLASS_CFG && _msg_id == MSG_CFG_SBAS && gps._sbas_mode != 2) { 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", 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)); sizeof(_buffer.sbas));
} }
} }
#endif
#if UBLOX_HW_LOGGING #if UBLOX_HW_LOGGING
if (_class == CLASS_MON) { if (_class == CLASS_MON) {

4
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -119,7 +119,6 @@ private:
uint32_t res3; uint32_t res3;
uint32_t res4; uint32_t res4;
}; };
#if UBLOX_GNSS_SETTINGS
struct PACKED ubx_cfg_sbas { struct PACKED ubx_cfg_sbas {
uint8_t mode; uint8_t mode;
uint8_t usage; uint8_t usage;
@ -127,7 +126,6 @@ private:
uint8_t scanmode2; uint8_t scanmode2;
uint32_t scanmode1; uint32_t scanmode1;
}; };
#endif
struct PACKED ubx_nav_posllh { struct PACKED ubx_nav_posllh {
uint32_t time; // GPS msToW uint32_t time; // GPS msToW
int32_t longitude; int32_t longitude;
@ -303,8 +301,8 @@ private:
#endif #endif
#if UBLOX_GNSS_SETTINGS #if UBLOX_GNSS_SETTINGS
ubx_cfg_gnss gnss; ubx_cfg_gnss gnss;
ubx_cfg_sbas sbas;
#endif #endif
ubx_cfg_sbas sbas;
ubx_nav_svinfo_header svinfo_header; ubx_nav_svinfo_header svinfo_header;
#if UBLOX_RXM_RAW_LOGGING #if UBLOX_RXM_RAW_LOGGING
ubx_rxm_raw rxm_raw; ubx_rxm_raw rxm_raw;