From 1279352a956e8660f09f8e328b737c8b253badac Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh@free.fr>
Date: Wed, 22 May 2019 20:18:44 +0200
Subject: [PATCH] LP-457 Call set_fc_baud_from_settings only from/to DJI ==
 avoid trouble for Ubxautoconfig.

---
 flight/modules/GPS/DJI.c |  2 ++
 flight/modules/GPS/GPS.c | 26 +++++++++++---------------
 2 files changed, 13 insertions(+), 15 deletions(-)

diff --git a/flight/modules/GPS/DJI.c b/flight/modules/GPS/DJI.c
index a178e1cf2..07e8d85d6 100644
--- a/flight/modules/GPS/DJI.c
+++ b/flight/modules/GPS/DJI.c
@@ -382,6 +382,8 @@ uint32_t parse_dji_message(struct DJIPacket *dji, GPSPositionSensorData *gpsPosi
         gpsPosition->HDOP = 99.99f;
         gpsPosition->PDOP = 99.99f;
         gpsPosition->VDOP = 99.99f;
+        // clear out satellite data because DJI doesn't provide it
+        GPSSatellitesSetDefaults(GPSSatellitesHandle(), 0);
         djiInitialized    = true;
     }
 
diff --git a/flight/modules/GPS/GPS.c b/flight/modules/GPS/GPS.c
index fd7eb9a05..31a174bae 100644
--- a/flight/modules/GPS/GPS.c
+++ b/flight/modules/GPS/GPS.c
@@ -571,15 +571,14 @@ static void gps_set_fc_baud_from_settings()
     uint8_t speed;
 
     // Retrieve settings
+    HwSettingsGPSSpeedGet(&speed);
+
 #if defined(PIOS_INCLUDE_GPS_DJI_PARSER) && !defined(PIOS_GPS_MINIMAL)
     if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_DJI) {
         speed = HWSETTINGS_GPSSPEED_115200;
-    } else {
-#endif
-    HwSettingsGPSSpeedGet(&speed);
-#if defined(PIOS_INCLUDE_GPS_DJI_PARSER) && !defined(PIOS_GPS_MINIMAL)
-}
+    }
 #endif
+
     // set fc baud
     gps_set_fc_baud_from_arg(speed);
 }
@@ -663,16 +662,19 @@ void AuxMagSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 #if defined(ANY_FULL_GPS_PARSER)
 void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
 {
+    GPSSettingsDataProtocolOptions previous_data_protocol = gpsSettings.DataProtocol;
     ubx_autoconfig_settings_t newconfig;
 
     GPSSettingsGet(&gpsSettings);
 
 #if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
-    // each time there is a protocol change, set the baud rate
-    // so that DJI can be forced to 115200, but changing to another protocol will change the baud rate to the user specified value
     // note that changes to HwSettings GPS baud rate are detected in the HwSettings callback,
-    // but changing to/from DJI is effectively a baud rate change because DJI is forced to be 115200
-    gps_set_fc_baud_from_settings(); // knows to force 115200 for DJI
+    // but changing to/from DJI in GPSSettings is effectively a baud rate change because DJI is forced to be 115200
+    if (((gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_DJI) && (previous_data_protocol != GPSSETTINGS_DATAPROTOCOL_DJI)) ||
+        ((gpsSettings.DataProtocol != GPSSETTINGS_DATAPROTOCOL_DJI) && (previous_data_protocol == GPSSETTINGS_DATAPROTOCOL_DJI))) {
+        // knows to force 115200 for DJI
+        gps_set_fc_baud_from_settings();
+    }
 #endif
 
     // it's OK that ubx auto config is inited and ready to go, when GPS is disabled or running another protocol
@@ -791,12 +793,6 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
         gps_ubx_autoconfig_set(&newconfig);
     }
 #endif
-#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
-    if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_DJI) {
-        // clear out satellite data because DJI doesn't provide it
-        GPSSatellitesSetDefaults(GPSSatellitesHandle(), 0);
-    }
-#endif
 }
 #endif /* defined(ANY_FULL_GPS_PARSER) */
 /**