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AP_GPS: correct update_primary check

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takes an instance, not a type
This commit is contained in:
Peter Barker 2024-03-12 14:20:01 +11:00 committed by Peter Barker
parent 251db3f414
commit 8ab3b0db37
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_GPS/AP_GPS.cpp
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@ -1182,7 +1182,7 @@ void AP_GPS::update_primary(void)
significant lagged and gives no more information on position or significant lagged and gives no more information on position or
velocity velocity
*/ */
const bool using_moving_base = (is_rtk_base(_type[0]) || is_rtk_base(_type[1])); const bool using_moving_base = is_rtk_base(0) || is_rtk_base(1);
if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::BLEND && !using_moving_base) { if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::BLEND && !using_moving_base) {
_output_is_blended = calc_blend_weights(); _output_is_blended = calc_blend_weights();
// adjust blend health counter // adjust blend health counter
@ -1234,8 +1234,8 @@ void AP_GPS::update_primary(void)
// rover as it typically is in fix type 6 (RTK) whereas base is // rover as it typically is in fix type 6 (RTK) whereas base is
// usually fix type 3 // usually fix type 3
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (is_rtk_base(_type[i]) && if (is_rtk_base(i) &&
is_rtk_rover(_type[i^1]) && is_rtk_rover(i^1) &&
((state[i].status >= GPS_OK_FIX_3D) || (state[i].status >= state[i^1].status))) { ((state[i].status >= GPS_OK_FIX_3D) || (state[i].status >= state[i^1].status))) {
if (primary_instance != i) { if (primary_instance != i) {
_last_instance_swap_ms = now; _last_instance_swap_ms = now;