AP_GPS: Raise the baud rate on a ublox GPS if using RAW logging

the implementation leaves an easy path forward for providing a different startup blob for all the GPS's if raw logging is enabled

libraries/AP_GPS/AP_GPS.cpp

@@ -130,6 +130,7 @@ const uint32_t AP_GPS::_baudrates[] PROGMEM = {4800U, 38400U, 115200U, 57600U, 9
 // initialisation blobs to send to the GPS to try to get it into the
 // right mode
 const prog_char AP_GPS::_initialisation_blob[] PROGMEM = UBLOX_SET_BINARY MTK_SET_BINARY SIRF_SET_BINARY;
+const prog_char AP_GPS::_initialisation_raw_blob[] PROGMEM = UBLOX_SET_BINARY_RAW_BAUD MTK_SET_BINARY SIRF_SET_BINARY;
 
 /*
   send some more initialisation string bytes if there is room in the
@@ -213,6 +214,11 @@ AP_GPS::detect_instance(uint8_t instance)
 		_port[instance]->begin(baudrate);
 		_port[instance]->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
 		dstate->last_baud_change_ms = now;
+#if UBLOX_RXM_RAW_LOGGING
+    if(_raw_data != 0)
+        send_blob_start(instance, _initialisation_raw_blob, sizeof(_initialisation_raw_blob));
+    else
+#endif
         send_blob_start(instance, _initialisation_blob, sizeof(_initialisation_blob));
     }
 

libraries/AP_GPS/AP_GPS.h

@@ -407,6 +407,7 @@ private:
 
     static const uint32_t  _baudrates[];
     static const prog_char _initialisation_blob[];
+    static const prog_char _initialisation_raw_blob[];
 
     void detect_instance(uint8_t instance);
     void update_instance(uint8_t instance);

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -747,8 +747,6 @@ AP_GPS_UBLOX::_configure_navigation_rate(uint16_t rate_ms)
 void
 AP_GPS_UBLOX::_configure_gps(void)
 {
-    port->begin(38400U);
-
     // start the process of updating the GPS rates
     need_rate_update = true;
     _last_5hz_time = hal.scheduler->millis();

libraries/AP_GPS/AP_GPS_UBLOX.h

@@ -39,6 +39,7 @@
  * would mean we would never detect it.
  */
 #define UBLOX_SET_BINARY "\265\142\006\001\003\000\001\006\001\022\117$PUBX,41,1,0003,0001,38400,0*26\r\n"
+#define UBLOX_SET_BINARY_RAW_BAUD "\265\142\006\001\003\000\001\006\001\022\117$PUBX,41,1,0003,0001,115200,0*1E\r\n"
 
 #if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
 #define UBLOX_RXM_RAW_LOGGING 1