X-Git-Url: https://git.gag.com/?a=blobdiff_plain;ds=sidebyside;f=src%2Fdrivers%2Fao_gps_ublox.c;h=6c42c1ba70a8c1fdbabc53817f09fe8a87be3ff3;hb=db6003d34595fbd103d5b131912b6a797254f1c5;hp=8676a670fd86a092bdaf5fcdd8d7b8220ab92ac3;hpb=b22dff94778b1f15a6ad1989d526b936f0fa09ea;p=fw%2Faltos

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 8676a670..6c42c1ba 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -600,6 +600,14 @@ static const uint8_t ublox_enable_nav[] = {
 	UBLOX_NAV_TIMEUTC
 };
 
+void
+ao_gps_set_rate(uint8_t rate)
+{
+	uint8_t	i;
+	for (i = 0; i < sizeof (ublox_enable_nav); i++)
+		ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], rate);
+}
+
 void
 ao_gps(void) __reentrant
 {
@@ -616,8 +624,7 @@ ao_gps(void) __reentrant
 		ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
 
 	/* Enable all of the messages we want */
-	for (i = 0; i < sizeof (ublox_enable_nav); i++)
-		ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1);
+	ao_gps_set_rate(1);
 
 	ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE),
 					 UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G,
@@ -742,7 +749,9 @@ ao_gps(void) __reentrant
 				ao_gps_data.ground_speed = nav_velned.g_speed;
 				ao_gps_data.climb_rate = -nav_velned.vel_d;
 				ao_gps_data.course = nav_velned.heading / 200000;
-
+#if HAS_FLIGHT || HAS_TRACKER
+				ao_gps_data.state = ao_flight_state;
+#endif
 				ao_gps_tracking_data.channels = 0;
 
 				struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];