From c0cc2faefdaff27ebf1f175321132050e91cad04 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 27 Jan 2017 15:57:34 +1100 Subject: [PATCH] AP_GPS: disable esoteric GPS types on FMUv2 --- libraries/AP_GPS/AP_GPS.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp index 4bb104f171..0b0e9a0388 100644 --- a/libraries/AP_GPS/AP_GPS.cpp +++ b/libraries/AP_GPS/AP_GPS.cpp @@ -389,6 +389,9 @@ AP_GPS::detect_instance(uint8_t instance) _broadcast_gps_type("u-blox", instance, dstate->current_baud); new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance]); } +#if !HAL_MINIMIZE_FEATURES + // we drop the MTK drivers when building a small build as they are so rarely used + // and are surprisingly large else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_MTK19) && AP_GPS_MTK19::_detect(dstate->mtk19_detect_state, data)) { _broadcast_gps_type("MTK19", instance, dstate->current_baud); @@ -399,17 +402,19 @@ AP_GPS::detect_instance(uint8_t instance) _broadcast_gps_type("MTK", instance, dstate->current_baud); new_gps = new AP_GPS_MTK(*this, state[instance], _port[instance]); } +#endif else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) && AP_GPS_SBP::_detect(dstate->sbp_detect_state, data)) { _broadcast_gps_type("SBP", instance, dstate->current_baud); new_gps = new AP_GPS_SBP(*this, state[instance], _port[instance]); } - // save a bit of code space on a 1280 +#if !HAL_MINIMIZE_FEATURES else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SIRF) && AP_GPS_SIRF::_detect(dstate->sirf_detect_state, data)) { _broadcast_gps_type("SIRF", instance, dstate->current_baud); new_gps = new AP_GPS_SIRF(*this, state[instance], _port[instance]); } +#endif else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_ERB) && AP_GPS_ERB::_detect(dstate->erb_detect_state, data)) { _broadcast_gps_type("ERB", instance, dstate->current_baud);