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Code Issues Wiki Activity

minor fix: missing ifdef and autoconfig check

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This commit is contained in:
Tony Cabello 2020-03-21 16:25:25 +01:00
parent 9c3d4603b7
commit 720d994a90
1 changed files with 15 additions and 11 deletions
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26
src/main/io/gps.c
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@ -538,21 +538,25 @@ void gpsUpdate(timeUs_t currentTimeUs)
// remove GPS from capability
sensorsClear(SENSOR_GPS);
gpsSetState(GPS_LOST_COMMUNICATION);
#ifdef USE_GPS_UBLOX
} else {
if ((gpsData.messageState == GPS_MESSAGE_STATE_INITIALIZED) && STATE(GPS_FIX) && (gpsConfig()->gps_ublox_mode == UBLOX_DYNAMIC)) {
gpsData.messageState = GPS_MESSAGE_STATE_PEDESTRIAN_TO_AIRBORNE;
gpsData.state_position = 0;
}
if (gpsData.messageState == GPS_MESSAGE_STATE_PEDESTRIAN_TO_AIRBORNE) {
if (gpsData.state_position < sizeof(ubloxAirborne)) {
if (isSerialTransmitBufferEmpty(gpsPort)) {
serialWrite(gpsPort, ubloxAirborne[gpsData.state_position]);
gpsData.state_position++;
if (gpsConfig()->autoConfig == GPS_AUTOCONFIG_ON) { // Only if autoconfig is enabled
if ((gpsData.messageState == GPS_MESSAGE_STATE_INITIALIZED) && STATE(GPS_FIX) && (gpsConfig()->gps_ublox_mode == UBLOX_DYNAMIC)) {
gpsData.messageState = GPS_MESSAGE_STATE_PEDESTRIAN_TO_AIRBORNE;
gpsData.state_position = 0;
}
if (gpsData.messageState == GPS_MESSAGE_STATE_PEDESTRIAN_TO_AIRBORNE) {
if (gpsData.state_position < sizeof(ubloxAirborne)) {
if (isSerialTransmitBufferEmpty(gpsPort)) {
serialWrite(gpsPort, ubloxAirborne[gpsData.state_position]);
gpsData.state_position++;
}
} else {
gpsData.messageState = GPS_MESSAGE_STATE_ENTRY_COUNT;
}
} else {
gpsData.messageState = GPS_MESSAGE_STATE_ENTRY_COUNT;
}
}
#endif //USE_GPS_UBLOX
}
break;
}