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AP_GPS: fixed UAVCAN as 2nd GPS

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This fixes the issue here:

  https://discuss.ardupilot.org/t/ac3-6-dev-dual-gps-issues/19172

thanks to Francisco for spotting the issue

this is tested with UAVCAN as 2nd GPS, ublox as primary
This commit is contained in:
Andrew Tridgell 2017-07-18 10:57:36 +10:00 committed by Francisco Ferreira
parent d2c57860fd
commit 82e7e44cc3
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_GPS/AP_GPS.cpp
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@ -399,6 +399,11 @@ void AP_GPS::detect_instance(uint8_t instance)
struct detect_state *dstate = &detect_state[instance]; struct detect_state *dstate = &detect_state[instance];
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
state[instance].instance = instance;
state[instance].status = NO_GPS;
state[instance].hdop = GPS_UNKNOWN_DOP;
state[instance].vdop = GPS_UNKNOWN_DOP;
switch (_type[instance]) { switch (_type[instance]) {
#if CONFIG_HAL_BOARD == HAL_BOARD_QURT #if CONFIG_HAL_BOARD == HAL_BOARD_QURT
case GPS_TYPE_QURT: case GPS_TYPE_QURT:
@ -456,11 +461,6 @@ void AP_GPS::detect_instance(uint8_t instance)
return; return;
} }
state[instance].instance = instance;
state[instance].status = NO_GPS;
state[instance].hdop = GPS_UNKNOWN_DOP;
state[instance].vdop = GPS_UNKNOWN_DOP;
// all remaining drivers automatically cycle through baud rates to detect // all remaining drivers automatically cycle through baud rates to detect
// the correct baud rate, and should have the selected baud broadcast // the correct baud rate, and should have the selected baud broadcast
dstate->auto_detected_baud = true; dstate->auto_detected_baud = true;