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ArduCopter: Ensure update_GPS does nothing when gps is disabled. 

This fixes a bug in which an APM without a GPS would not work because it would constantly scan for a valid GPS long after it should have given up and moved on.
This commit is contained in:
rmackay9 2012-06-03 23:48:45 +09:00
parent 5c9dc00ae2
commit 72d76558a7
1 changed files with 5 additions and 0 deletions
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ArduCopter/ArduCopter.pde
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@ -1331,6 +1331,11 @@ static void update_GPS(void)
// A counter that is used to grab at least 10 reads before commiting the Home location // A counter that is used to grab at least 10 reads before commiting the Home location
static byte ground_start_count = 10; static byte ground_start_count = 10;
// return immediately if GPS is not enabled
if( !GPS_enabled ) {
return;
}
g_gps->update(); g_gps->update();
update_GPS_light(); update_GPS_light();