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AP_GPS: Revert Don't autodetect NMEA instances

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This reverts commit bea48e8711.
This commit is contained in:
Randy Mackay 2017-07-11 18:09:28 +09:00
parent c85c9578c2
commit 53368a2afd
1 changed files with 9 additions and 5 deletions
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14
libraries/AP_GPS/AP_GPS.cpp
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@ -466,8 +466,8 @@ void AP_GPS::detect_instance(uint8_t instance)
break;
}
// record the time when we started detection. This is used as a flag to
// indicate that the detected GPS baud rate should be broadcast
// record the time when we started detection. This is used to try
// to avoid initialising a uBlox as a NMEA GPS
if (dstate->detect_started_ms == 0) {
dstate->detect_started_ms = now;
}
@ -538,9 +538,13 @@ void AP_GPS::detect_instance(uint8_t instance)
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_ERB) &&
AP_GPS_ERB::_detect(dstate->erb_detect_state, data)) {
new_gps = new AP_GPS_ERB(*this, state[instance], _port[instance]);
} else if (_type[instance] == GPS_TYPE_NMEA &&
AP_GPS_NMEA::_detect(dstate->nmea_detect_state, data)) {
new_gps = new AP_GPS_NMEA(*this, state[instance], _port[instance]);
} else if (now - dstate->detect_started_ms > (ARRAY_SIZE(_baudrates) * GPS_BAUD_TIME_MS)) {
// prevent false detection of NMEA mode in
// a MTK or UBLOX which has booted in NMEA mode
if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_NMEA) &&
AP_GPS_NMEA::_detect(dstate->nmea_detect_state, data)) {
new_gps = new AP_GPS_NMEA(*this, state[instance], _port[instance]);
}
}
}