From e3bb9e87e2af2f0f70e486405e2c6df5d3e23667 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 9 Jul 2013 17:36:24 +0200
Subject: [PATCH] Hotfix for GPS: Disable unknown message classes
---
src/drivers/gps/ubx.cpp | 11 ++++++++++-
1 file changed, 10 insertions(+), 1 deletion(-)
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp
index f2e7ca67dc..b460890734 100644
--- a/src/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
@@ -176,7 +176,7 @@ UBX::configure(unsigned &baudrate)
// if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0)
// continue;
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC,
- 1);
+ 0);
// /* insist of receiving the ACK for this packet */
// if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0)
// continue;
@@ -327,6 +327,7 @@ UBX::parse_char(uint8_t b)
}
break;
case UBX_DECODE_GOT_CLASS:
+ {
add_byte_to_checksum(b);
switch (_message_class) {
case NAV:
@@ -413,6 +414,14 @@ UBX::parse_char(uint8_t b)
// config_needed = true;
break;
}
+ // Evaluate state machine - if the state changed,
+ // the state machine was reset via decode_init()
+ // and we want to tell the module to stop sending this message
+
+ // disable unknown message
+ warnx("disabled class %d, msg %d", (int)_message_class, (int)b);
+ configure_message_rate(_message_class, b, 0);
+ }
break;
case UBX_DECODE_GOT_MESSAGEID:
add_byte_to_checksum(b);
--
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