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AP_GPS: disable SBP driver on APM2

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the driver uses double precision floating point, which can't work on
8bit AVR with gcc
This commit is contained in:
Andrew Tridgell 2014-04-05 21:39:55 +11:00
parent 5a585b90e8
commit 43ebd86bb1
2 changed files with 4 additions and 0 deletions
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2
libraries/AP_GPS/AP_GPS.cpp
View File

@ -166,11 +166,13 @@ AP_GPS::detect_instance(uint8_t instance)
hal.console->print_P(PSTR(" MTK "));
new_gps = new AP_GPS_MTK(*this, state[instance], port);
}
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) &&
AP_GPS_SBP::_detect(dstate->sbp_detect_state, data)) {
hal.console->print_P(PSTR(" SBP "));
new_gps = new AP_GPS_SBP(*this, state[instance], port);
}
#endif // HAL_CPU_CLASS
#if !defined( __AVR_ATmega1280__ )
// save a bit of code space on a 1280
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SIRF) &&

2
libraries/AP_GPS/AP_GPS.h
View File

@ -302,7 +302,9 @@ private:
struct MTK19_detect_state mtk19_detect_state;
struct SIRF_detect_state sirf_detect_state;
struct NMEA_detect_state nmea_detect_state;
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
struct SBP_detect_state sbp_detect_state;
#endif
} detect_state[GPS_MAX_INSTANCES];
struct {