Added the bug fix for setNavigationFrequency

Author: PaulZC

examples/Example20_SendCustomCommand/Example20_SendCustomCommand.ino

@@ -150,6 +150,25 @@ void setup()
     Serial.println(F("Dynamic platform model updated."));
   }
 
+  // Now let's read the navigation model settings again to see if the change was successful.
+
+  // We need to reset the packet before we try again as the values could have changed
+  customCfg.cls = UBX_CLASS_CFG;
+  customCfg.id = UBX_CFG_NAV5;
+  customCfg.len = 0;
+  customCfg.startingSpot = 0;
+
+  if (myGPS.sendCustomCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+  {
+    Serial.println(F("sendCustomCommand (poll) failed! Freezing."));
+    while (1)
+      ;
+  }
+
+  // Print the current dynamic model
+  Serial.print(F("The new dynamic model is: "));
+  Serial.println(customPayload[2]);
+
   //myGPS.saveConfigSelective(VAL_CFG_SUBSEC_NAVCONF); //Uncomment this line to save only the NAV settings to flash and BBR
 }
 

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -1246,7 +1246,7 @@ sfe_ublox_status_e SFE_UBLOX_GPS::waitForACKResponse(ubxPacket *outgoingUBX, uin
       }
 
       // We can be confident that the data packet (if we are going to get one) will always arrive
-      // before the matching ACK. So if we accidentally sent a config packet which only produces an ACK
+      // before the matching ACK. So if we sent a config packet which only produces an ACK
       // then outgoingUBX->classAndIDmatch will be NOT_DEFINED and the packetAck.classAndIDmatch will VALID.
       // We should not check outgoingUBX->valid, outgoingUBX->cls or outgoingUBX->id
       // as these may have been changed by a PVT packet.
@@ -1255,7 +1255,7 @@ sfe_ublox_status_e SFE_UBLOX_GPS::waitForACKResponse(ubxPacket *outgoingUBX, uin
       {
         if (_printDebug == true)
         {
-          _debugSerial->print(F("waitForACKResponse: NO DATA and VALID ACK after "));
+          _debugSerial->print(F("waitForACKResponse: no data and valid ACK after "));
           _debugSerial->print(millis() - startTime);
           _debugSerial->println(F(" msec"));
         }
@@ -2117,6 +2117,7 @@ boolean SFE_UBLOX_GPS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait)
   //payloadCfg is now loaded with current bytes. Change only the ones we need to
   payloadCfg[0] = measurementRate & 0xFF; //measRate LSB
   payloadCfg[1] = measurementRate >> 8;   //measRate MSB
+  packetCfg.len = 6; // Bug fix!
 
   return ((sendCommand(packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }