From d97861d685408f41c52e8840189bc17ac8583bdb Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Sun, 20 Nov 2016 20:57:19 -0700
Subject: [PATCH] AP_GPS: Ublox: Skip SBAS request if we don't want to alter it

---
 libraries/AP_GPS/AP_GPS_UBLOX.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index 86a9d88b85..ac6d1c0069 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -114,7 +114,11 @@ AP_GPS_UBLOX::_request_next_config(void)
         }
         break;
     case STEP_POLL_SBAS:
-        _send_message(CLASS_CFG, MSG_CFG_SBAS, nullptr, 0);
+        if (gps._sbas_mode != 2) {
+            _send_message(CLASS_CFG, MSG_CFG_SBAS, nullptr, 0);
+        } else {
+            _unconfigured_messages &= ~CONFIG_SBAS;
+        }
 	break;
     case STEP_POLL_NAV:
         _send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS, nullptr, 0);