Merge pull request iNavFlight#10082 from WizzardDr/master

Skip `pollVersion()` and `pollGnssCapabilities()` if `gps_auto_config = OFF`
mmosca · May 31, 2024 · 7b21635 · 7b21635
2 parents 95ff86a + 2269730
commit 7b21635
Showing 1 changed file with 19 additions and 18 deletions.
diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c
@@ -1048,25 +1048,26 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
     gpsState.hwVersion = UBX_HW_VERSION_UNKNOWN;
     gpsState.autoConfigStep = 0;
 
-    do {
-        pollVersion();
-        gpsState.autoConfigStep++;
-        ptWaitTimeout((gpsState.hwVersion != UBX_HW_VERSION_UNKNOWN), GPS_CFG_CMD_TIMEOUT_MS);
-    } while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == UBX_HW_VERSION_UNKNOWN);
-
-    gpsState.autoConfigStep = 0;
-    ubx_capabilities.supported = ubx_capabilities.enabledGnss = ubx_capabilities.defaultGnss = 0;
-    // M7 and earlier will never get pass this step, so skip it (#9440).
-    // UBLOX documents that this is M8N and later
-    if (gpsState.hwVersion > UBX_HW_VERSION_UBLOX7) {
-	do {
-	    pollGnssCapabilities();
-	    gpsState.autoConfigStep++;
-	    ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS);
-	} while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0);
-    }
     // Configure GPS module if enabled
     if (gpsState.gpsConfig->autoConfig) {
+        do {
+            pollVersion();
+            gpsState.autoConfigStep++;
+            ptWaitTimeout((gpsState.hwVersion != UBX_HW_VERSION_UNKNOWN), GPS_CFG_CMD_TIMEOUT_MS);
+        } while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == UBX_HW_VERSION_UNKNOWN);
+
+        gpsState.autoConfigStep = 0;
+        ubx_capabilities.supported = ubx_capabilities.enabledGnss = ubx_capabilities.defaultGnss = 0;
+        // M7 and earlier will never get pass this step, so skip it (#9440).
+        // UBLOX documents that this is M8N and later
+        if (gpsState.hwVersion > UBX_HW_VERSION_UBLOX7) {
+            do {
+                pollGnssCapabilities();
+                gpsState.autoConfigStep++;
+                ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS);
+            } while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0);
+        }
+
         // Configure GPS
         ptSpawn(gpsConfigure);
     }
@@ -1079,7 +1080,7 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
         ptSemaphoreWait(semNewDataReady);
         gpsProcessNewSolutionData(false);
 
-        if ((gpsState.gpsConfig->provider == GPS_UBLOX || gpsState.gpsConfig->provider == GPS_UBLOX7PLUS)) {
+        if ((gpsState.gpsConfig->autoConfig) && (gpsState.gpsConfig->provider == GPS_UBLOX || gpsState.gpsConfig->provider == GPS_UBLOX7PLUS)) {
             if ((millis() - gpsState.lastCapaPoolMs) > GPS_CAPA_INTERVAL) {
                 gpsState.lastCapaPoolMs = millis();