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AP_GPS: stop reading arbitrary amounts of data in GPS init

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We don't like doing this in other places as the vehicle can go out to
lunch for arbitrary periods of time
This commit is contained in:
Peter Barker 2022-04-13 23:27:28 +10:00 committed by Andrew Tridgell
parent b88f414320
commit 00329ae443
1 changed files with 8 additions and 1 deletions
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9
libraries/AP_GPS/AP_GPS.cpp
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@ -744,7 +744,14 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance)
send_blob_update(instance);
}
while (initblob_state[instance].remaining == 0 && _port[instance]->available() > 0) {
if (initblob_state[instance].remaining != 0) {
// don't run detection engines if we haven't sent out the initblobs
return nullptr;
}
uint16_t bytecount = MIN(8192U, _port[instance]->available());
while (bytecount-- > 0) {
uint8_t data = _port[instance]->read();
/*
running a uBlox at less than 38400 will lead to packet