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AP_GPS: fixed unconfigured uBlox pre-arm #27805

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merged 1 commit into from
Aug 13, 2024
Merged

AP_GPS: fixed unconfigured uBlox pre-arm #27805

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9 changes: 8 additions & 1 deletion libraries/AP_GPS/AP_GPS_UBLOX.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2303,7 +2303,14 @@ bool AP_GPS_UBLOX::is_healthy(void) const
uint8_t AP_GPS_UBLOX::populate_F9_gnss(void)
{
uint8_t cfg_count = 0;
if (params.gnss_mode != 0 && (_unconfigured_messages & CONFIG_F9)) {

if (params.gnss_mode == 0) {
_unconfigured_messages &= ~CONFIG_F9;
last_configured_gnss = params.gnss_mode;
return 0;
}

if ((_unconfigured_messages & CONFIG_F9) != 0) {
// ZED-F9P defaults are
// GPS L1C/A+L2C(ZED)
// SBAS L1C/A
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