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AP_GPS: zero state structure on driver release

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this ensures no values are left from the previous driver
This commit is contained in:
Andrew Tridgell 2014-04-02 07:48:36 +11:00
parent 2ddc414f4d
commit 79f5618f6f
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_GPS/AP_GPS.cpp
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@ -221,12 +221,14 @@ AP_GPS::update_instance(uint8_t instance)
// detection to run again
if (!result) {
if (tnow - timing[instance].last_message_time_ms > 1200) {
state[instance].status = NO_GPS;
timing[instance].last_message_time_ms = tnow;
// free the driver before we run the next detection, so we
// don't end up with two allocated at any time
delete drivers[instance];
drivers[instance] = NULL;
memset(&state[instance], 0, sizeof(state[instance]));
state[instance].instance = instance;
state[instance].status = NO_GPS;
timing[instance].last_message_time_ms = tnow;
}
} else {
timing[instance].last_message_time_ms = tnow;