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AP_GPS: Do not restart driver if type is defined as MAV

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Fix bluerobotics/ardusub#104

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2018-02-14 22:59:14 -02:00 committed by WickedShell
parent 1b26f8527a
commit a255c47c33
1 changed files with 10 additions and 5 deletions
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15
libraries/AP_GPS/AP_GPS.cpp
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@ -626,17 +626,22 @@ void AP_GPS::update_instance(uint8_t instance)
// detection to run again // detection to run again
if (!result) { if (!result) {
if (tnow - timing[instance].last_message_time_ms > GPS_TIMEOUT_MS) { if (tnow - timing[instance].last_message_time_ms > GPS_TIMEOUT_MS) {
// 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] = nullptr;
memset(&state[instance], 0, sizeof(state[instance])); memset(&state[instance], 0, sizeof(state[instance]));
state[instance].instance = instance; state[instance].instance = instance;
state[instance].status = NO_GPS;
state[instance].hdop = GPS_UNKNOWN_DOP; state[instance].hdop = GPS_UNKNOWN_DOP;
state[instance].vdop = GPS_UNKNOWN_DOP; state[instance].vdop = GPS_UNKNOWN_DOP;
timing[instance].last_message_time_ms = tnow; timing[instance].last_message_time_ms = tnow;
timing[instance].delta_time_ms = GPS_TIMEOUT_MS; timing[instance].delta_time_ms = GPS_TIMEOUT_MS;
// do not try to detect again if type is MAV
if (_type[instance] == GPS_TYPE_MAV) {
state[instance].status = NO_FIX;
} else {
// 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] = nullptr;
state[instance].status = NO_GPS;
}
} }
} else { } else {
// delta will only be correct after parsing two messages // delta will only be correct after parsing two messages