diff options
| author | mazahner <mazahner@student.ethz.ch> | 2014-11-10 17:39:04 +0100 |
|---|---|---|
| committer | mazahner <mazahner@student.ethz.ch> | 2014-11-10 17:39:04 +0100 |
| commit | 6ec08335459457c82158d2df06050bd30fb8cc59 (patch) | |
| tree | 3d5407b6bc88533eacedb3bebfc9e0c9b23609ea /src/drivers/gps/ubx.cpp | |
| parent | d15203de91cc07530809060f949374bb8918daea (diff) | |
| parent | 4e8e6e653beb21808f532b83c6c6e827103ea379 (diff) | |
| download | px4-firmware-6ec08335459457c82158d2df06050bd30fb8cc59.tar.gz px4-firmware-6ec08335459457c82158d2df06050bd30fb8cc59.tar.bz2 px4-firmware-6ec08335459457c82158d2df06050bd30fb8cc59.zip | |
Merge branch 'master' of https://github.com/mazahner/Firmware
Diffstat (limited to 'src/drivers/gps/ubx.cpp')
| -rw-r--r-- | src/drivers/gps/ubx.cpp | 12 |
1 files changed, 12 insertions, 0 deletions
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index d0854f5e9..b0eb4ab66 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -189,6 +189,18 @@ UBX::configure(unsigned &baudrate) return 1; } +#ifdef UBX_CONFIGURE_SBAS + /* send a SBAS message to set the SBAS options */ + memset(&_buf.payload_tx_cfg_sbas, 0, sizeof(_buf.payload_tx_cfg_sbas)); + _buf.payload_tx_cfg_sbas.mode = UBX_TX_CFG_SBAS_MODE; + + send_message(UBX_MSG_CFG_SBAS, _buf.raw, sizeof(_buf.payload_tx_cfg_sbas)); + + if (wait_for_ack(UBX_MSG_CFG_SBAS, UBX_CONFIG_TIMEOUT, true) < 0) { + return 1; + } +#endif + /* configure message rates */ /* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */ |