X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_ublox.c;h=077698a90d514a24672b3d990d867118a1c67a9c;hb=1894b51daceaf9fb6b49a0625e09a366985d15b6;hp=4fb907462c43691807e355a21549b63a6dd1658b;hpb=ba99630f33440b993c69830856d2a7741ffdef71;p=fw%2Faltos

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 4fb90746..077698a9 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,
@@ -713,7 +720,7 @@ ao_gps(void) __reentrant
 				ao_gps_data.flags |= AO_GPS_RUNNING;
 				if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
 					uint8_t	nsat = nav_sol.nsat;
-					ao_gps_data.flags |= AO_GPS_VALID;
+					ao_gps_data.flags |= AO_GPS_VALID | AO_GPS_COURSE_VALID;
 					if (nsat > 15)
 						nsat = 15;
 					ao_gps_data.flags |= nsat;
@@ -746,18 +753,20 @@ ao_gps(void) __reentrant
 				ao_gps_tracking_data.channels = 0;
 
 				struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];
+				struct nav_svinfo_sat *src = &nav_svinfo_sat[0];
 
 				for (i = 0; i < nav_svinfo_nsat; i++) {
-					struct nav_svinfo_sat *src = &nav_svinfo_sat[i];
-
 					if (!(src->flags & (1 << NAV_SVINFO_SAT_FLAGS_UNHEALTHY)) &&
 					    src->quality >= NAV_SVINFO_SAT_QUALITY_ACQUIRED)
 					{
-						dst->svid = src->svid;
-						dst->c_n_1 = src->cno;
-						dst++;
-						ao_gps_tracking_data.channels++;
+						if (ao_gps_tracking_data.channels < AO_TELEMETRY_SATELLITE_MAX_SAT) {
+							dst->svid = src->svid;
+							dst->c_n_1 = src->cno;
+							dst++;
+							ao_gps_tracking_data.channels++;
+						}
 					}
+					src++;
 				}
 
 				ao_mutex_put(&ao_gps_mutex);