From fcfbbb617e93026a2d17f62359b3105f8cd28125 Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Thu, 23 Nov 2023 14:23:03 +1100 Subject: [PATCH] AP_GPS: set L5 config only on BBR and RAM --- libraries/AP_GPS/AP_GPS_UBLOX.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp index 9c050cc3d2012..f875d7fc47238 100644 --- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp +++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp @@ -245,8 +245,8 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_M10[] { config changes for L5 modules */ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_L5_ovrd_ena[] { - {ConfigKey::CFG_SIGNAL_GPS_L5_ENA, 1}, {ConfigKey::CFG_SIGNAL_L5_HEALTH_OVRD, 1}, + {ConfigKey::CFG_SIGNAL_GPS_L5_ENA, 1}, }; const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_L5_ovrd_dis[] { @@ -455,13 +455,13 @@ AP_GPS_UBLOX::_request_next_config(void) if (supports_l5 && option_set(AP_GPS::DriverOptions::GPSL5HealthOverride)) { const config_list *list = config_L5_ovrd_ena; const uint8_t list_length = ARRAY_SIZE(config_L5_ovrd_ena); - if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_ALL)) { + if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_RAM | UBX_VALSET_LAYER_BBR)) { _next_message--; } } else if (supports_l5 && !option_set(AP_GPS::DriverOptions::GPSL5HealthOverride)) { const config_list *list = config_L5_ovrd_dis; const uint8_t list_length = ARRAY_SIZE(config_L5_ovrd_dis); - if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_ALL)) { + if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_RAM | UBX_VALSET_LAYER_BBR)) { _next_message--; } }