fix: protocol version

Author: Muhammad540

ublox_gps/include/ublox_gps/gps.hpp

@@ -300,7 +300,7 @@ class Gps final {
    * @note This is part of the expert settings. It is recommended you check
    * the ublox manual first.
    */
-  bool setPpp(bool enable);
+  bool setPpp(bool enable, float protocol_version);
 
   /**
    * @brief Set the DGNSS mode (see CfgDGNSS message for details).
@@ -314,7 +314,7 @@ class Gps final {
    * @param enable If true, enable ADR.
    * @return true on ACK, false on other conditions.
    */
-  bool setUseAdr(bool enable);
+  bool setUseAdr(bool enable, float protocol_version);
 
   /**
    * @brief Configure the U-Blox to UTC time

ublox_gps/src/gps.cpp

@@ -555,11 +555,14 @@ bool Gps::setDeadReckonLimit(uint8_t limit) {
   return configure(msg);
 }
 
-bool Gps::setPpp(bool enable) {
+bool Gps::setPpp(bool enable, float protocol_version) {
   RCLCPP_DEBUG(logger_,"%s PPP", (enable ? "Enabling" : "Disabling"));
 
   ublox_msgs::msg::CfgNAVX5 msg;
   msg.use_ppp = enable;
+  if(protocol_version >= 18){
+    msg.version = 2;
+  }
   msg.mask1 = ublox_msgs::msg::CfgNAVX5::MASK1_PPP;
   return configure(msg);
 }
@@ -571,11 +574,14 @@ bool Gps::setDgnss(uint8_t mode) {
   return configure(cfg);
 }
 
-bool Gps::setUseAdr(bool enable) {
+bool Gps::setUseAdr(bool enable, float protocol_version) {
   RCLCPP_DEBUG(logger_, "%s ADR/UDR", (enable ? "Enabling" : "Disabling"));
 
   ublox_msgs::msg::CfgNAVX5 msg;
   msg.use_adr = enable;
+  if(protocol_version >= 18){
+    msg.version = 2;
+  }
   msg.mask2 = ublox_msgs::msg::CfgNAVX5::MASK2_ADR;
   return configure(msg);
 }