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gnss: F9P: Send RTK commands only if RTK is enabled #99938

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gnss: F9P: Send RTK commands only if RTK is enabled #99938

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11 changes: 8 additions & 3 deletions drivers/gnss/gnss_u_blox_f9p.c
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Original file line number Diff line number Diff line change
Expand Up @@ -84,17 +84,19 @@ UBX_FRAME_DEFINE(nav_fix_mode_auto,
UBX_FRAME_CFG_VAL_SET_U8_INITIALIZER(UBX_KEY_NAV_CFG_FIX_MODE, UBX_FIX_MODE_AUTO));
UBX_FRAME_DEFINE(enable_prot_in_ubx,
UBX_FRAME_CFG_VAL_SET_U8_INITIALIZER(UBX_KEY_UART1_PROTO_IN_UBX, 1));
UBX_FRAME_DEFINE(enable_prot_in_rtcm3,
UBX_FRAME_CFG_VAL_SET_U8_INITIALIZER(UBX_KEY_UART1_PROTO_IN_RTCM3X, 1));
UBX_FRAME_DEFINE(enable_prot_out_ubx,
UBX_FRAME_CFG_VAL_SET_U8_INITIALIZER(UBX_KEY_UART1_PROTO_OUT_UBX, 1));
#if CONFIG_GNSS_U_BLOX_F9P_RTK
UBX_FRAME_DEFINE(enable_prot_in_rtcm3,
UBX_FRAME_CFG_VAL_SET_U8_INITIALIZER(UBX_KEY_UART1_PROTO_IN_RTCM3X, 1));
UBX_FRAME_DEFINE(disable_prot_out_rtcm3,
UBX_FRAME_CFG_VAL_SET_U8_INITIALIZER(UBX_KEY_UART1_PROTO_OUT_RTCM3X, 0));
UBX_FRAME_DEFINE(enable_ubx_rtcm_rsp,
UBX_FRAME_CFG_VAL_SET_U8_INITIALIZER(UBX_KEY_MSG_OUT_UBX_RXM_RTCM_UART1, 1));
UBX_FRAME_DEFINE(set_rtk_fix_mode,
UBX_FRAME_CFG_VAL_SET_U8_INITIALIZER(UBX_KEY_NAV_HP_CFG_GNSS_MODE,
UBX_NAV_HP_DGNSS_MODE_RTK_FIXED));
#endif
#if CONFIG_GNSS_SATELLITES
UBX_FRAME_DEFINE(enable_sat,
UBX_FRAME_CFG_VAL_SET_U8_INITIALIZER(UBX_KEY_MSG_OUT_UBX_NAV_SAT_UART1, 1));
Expand All @@ -105,8 +107,11 @@ UBX_FRAME_ARRAY_DEFINE(u_blox_f9p_init_seq,
&disable_nmea_gbs, &disable_nmea_gll, &disable_nmea_gns, &disable_nmea_grs,
&disable_nmea_gsa, &disable_nmea_gst, &disable_nmea_vlw, &disable_nmea_vtg,
&disable_nmea_zda, &enable_nav, &nav_fix_mode_auto,
&enable_prot_in_ubx, &enable_prot_in_rtcm3, &enable_prot_out_ubx,
&enable_prot_in_ubx, &enable_prot_out_ubx,
#if CONFIG_GNSS_U_BLOX_F9P_RTK
&enable_prot_in_rtcm3,
&disable_prot_out_rtcm3, &enable_ubx_rtcm_rsp, &set_rtk_fix_mode,
#endif
#if CONFIG_GNSS_SATELLITES
&enable_sat,
#endif
Expand Down