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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-22 12:47:08 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-22 12:47:08 +0100 |
| commit | f3a224e30d8a70418541a6185ce5765b37745a7a (patch) | |
| tree | 938bd443fc9f53cdbea3294d2e702e72ddd8493c /src/drivers/gps/ubx.cpp | |
| parent | 821c06f7cc58b50afe80442ee2258bf99cbe1fd2 (diff) | |
| parent | 685d3965a81b3f6a1ada4aa8bf9ebdd16b029c58 (diff) | |
| download | px4-firmware-f3a224e30d8a70418541a6185ce5765b37745a7a.tar.gz px4-firmware-f3a224e30d8a70418541a6185ce5765b37745a7a.tar.bz2 px4-firmware-f3a224e30d8a70418541a6185ce5765b37745a7a.zip | |
Merged master
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 */ |