Fixing UBlox M10 support

TOTON95 · Jul 27, 2023 · b94378b · b94378b
1 parent 261480c
commit b94378b
Showing 1 changed file with 9 additions and 4 deletions.
diff --git a/src/ubx.cpp b/src/ubx.cpp
@@ -664,10 +664,15 @@ int GPSDriverUBX::configureDevice(const GPSConfig &config, const int32_t uart2_b
 	// Send a new CFG-VALSET message to make sure it does not get too large
 	cfg_valset_msg_size = initCfgValset();
 	cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_NAV_PVT_I2C, 1, cfg_valset_msg_size);
-	cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_NAV_HPPOSLLH_I2C, 1, cfg_valset_msg_size);
-	cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_NAV_RELPOSNED_I2C,
-		      _mode == UBXMode::RoverWithMovingBase || _mode == UBXMode::RoverWithMovingBaseUART1 ? 1 : 0,
-		      cfg_valset_msg_size);
+
+	// There is no RTCM on M10
+	if (_board != Board::u_blox10) {
+		cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_NAV_HPPOSLLH_I2C, 1, cfg_valset_msg_size);
+		cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_NAV_RELPOSNED_I2C,
+			      _mode == UBXMode::RoverWithMovingBase || _mode == UBXMode::RoverWithMovingBaseUART1 ? 1 : 0,
+			      cfg_valset_msg_size);
+	}
+
 	_use_nav_pvt = true;
 	cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_NAV_DOP_I2C, 1, cfg_valset_msg_size);
 	cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_NAV_SAT_I2C, (_satellite_info != nullptr) ? 10 : 0, cfg_valset_msg_size);