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AP_GPS: fix MAV compile error

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This commit is contained in:
Randy Mackay 2016-10-29 16:45:00 +09:00
parent 0c54025e82
commit 67bbf486fc
1 changed files with 9 additions and 11 deletions
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20
libraries/AP_GPS/AP_GPS.cpp
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@ -240,7 +240,15 @@ AP_GPS::detect_instance(uint8_t instance)
goto found_gps;
}
#endif
// user has to explicitly set the MAV type, do not use AUTO
// do not try to detect the MAV type, assume it's there
if (_type[instance] == GPS_TYPE_MAV) {
_broadcast_gps_type("MAV", instance, -1);
new_gps = new AP_GPS_MAV(*this, state[instance], NULL);
goto found_gps;
}
if (_port[instance] == NULL) {
// UART not available
return;
@ -262,14 +270,6 @@ AP_GPS::detect_instance(uint8_t instance)
new_gps = new AP_GPS_NOVA(*this, state[instance], _port[instance]);
}
// user has to explicitly set the MAV type, do not use AUTO
// Do not try to detect the MAV type, assume it's there
if (_type[instance] == GPS_TYPE_MAV) {
_broadcast_gps_type("MAV", instance, -1);
new_gps = new AP_GPS_MAV(*this, state[instance], NULL);
goto found_gps;
}
// 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) {
@ -351,9 +351,7 @@ AP_GPS::detect_instance(uint8_t instance)
}
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_QURT
found_gps:
#endif
if (new_gps != NULL) {
state[instance].status = NO_FIX;
drivers[instance] = new_gps;