Bug fixes for EM-406

git-svn-id: https://arducopter.googlecode.com/svn/trunk@539 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_GPS/AP_GPS.h

@@ -5,6 +5,7 @@
 
 #include "AP_GPS_NMEA.h"
 #include "AP_GPS_SIRF.h"
+#include "AP_GPS_406.h"
 #include "AP_GPS_UBLOX.h"
 #include "AP_GPS_MTK.h"
 #include "AP_GPS_IMU.h"

libraries/AP_GPS/AP_GPS_406.cpp

@@ -68,6 +68,14 @@ AP_GPS_406::_change_to_sirf_protocol(void)
 	_port->print(init_str);
 	delay(300);
 
+	fs->begin(9600);
+	delay(300);
+	_port->print(init_str);
+	delay(300);
+
 	fs->begin(GPS_406_BITRATE);
+	delay(300);
+	_port->print(init_str);
+	delay(300);
 }
 

libraries/AP_GPS/AP_GPS_SIRF.cpp

@@ -165,7 +165,8 @@ AP_GPS_SIRF::_parse_gps(void)
 	switch(_msg_id) {
 	case MSG_GEONAV:
 		time			= _swapl(&_buffer.nav.time);
-		fix				= (0 == _buffer.nav.fix_invalid) && (FIX_3D == (_buffer.nav.fix_type & FIX_MASK));
+		//fix				= (0 == _buffer.nav.fix_invalid) && (FIX_3D == (_buffer.nav.fix_type & FIX_MASK));
+		fix				= (0 == _buffer.nav.fix_invalid);
 		latitude		= _swapl(&_buffer.nav.latitude);
 		longitude		= _swapl(&_buffer.nav.longitude);
 		altitude		= _swapl(&_buffer.nav.altitude_msl);