Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-02 11:59:17 +08:00
Code Issues Actions 21 Packages Projects Releases Wiki Activity

Always enable nav sol

Browse Source
This commit is contained in:
Lorenz Meier
2016-02-25 13:26:52 +01:00
parent 8fcf24f23f
commit fdff16c3cb
1 changed files with 6 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gps/ubx.cpp
+6 -6
View File
@@ -237,12 +237,6 @@ UBX::configure(unsigned &baudrate)
return 1; return 1;
} }
configure_message_rate(UBX_MSG_NAV_DOP, 1);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
configure_message_rate(UBX_MSG_NAV_VELNED, 1); configure_message_rate(UBX_MSG_NAV_VELNED, 1);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
@@ -250,6 +244,12 @@ UBX::configure(unsigned &baudrate)
} }
} }
configure_message_rate(UBX_MSG_NAV_DOP, 1);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
configure_message_rate(UBX_MSG_NAV_SVINFO, (_satellite_info != nullptr) ? 5 : 0); configure_message_rate(UBX_MSG_NAV_SVINFO, (_satellite_info != nullptr) ? 5 : 0);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {