Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
libraries/AP_GPS/AP_GPS.cpp
View File

@ -626,17 +626,22 @@ void AP_GPS::update_instance(uint8_t instance)
// detection to run again
if (!result) {
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]));
state[instance].instance = instance;
state[instance].status = NO_GPS;
state[instance].hdop = GPS_UNKNOWN_DOP;
state[instance].vdop = GPS_UNKNOWN_DOP;
timing[instance].last_message_time_ms = tnow;
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 {
// delta will only be correct after parsing two messages