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AP_GPS: disable esoteric GPS types on FMUv2

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This commit is contained in:
Andrew Tridgell 2017-01-27 15:57:34 +11:00
parent 977cd3c486
commit c0cc2faefd
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_GPS/AP_GPS.cpp
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@ -389,6 +389,9 @@ AP_GPS::detect_instance(uint8_t instance)
_broadcast_gps_type("u-blox", instance, dstate->current_baud); _broadcast_gps_type("u-blox", instance, dstate->current_baud);
new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance]); 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) && else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_MTK19) &&
AP_GPS_MTK19::_detect(dstate->mtk19_detect_state, data)) { AP_GPS_MTK19::_detect(dstate->mtk19_detect_state, data)) {
_broadcast_gps_type("MTK19", instance, dstate->current_baud); _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); _broadcast_gps_type("MTK", instance, dstate->current_baud);
new_gps = new AP_GPS_MTK(*this, state[instance], _port[instance]); new_gps = new AP_GPS_MTK(*this, state[instance], _port[instance]);
} }
#endif
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) && else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) &&
AP_GPS_SBP::_detect(dstate->sbp_detect_state, data)) { AP_GPS_SBP::_detect(dstate->sbp_detect_state, data)) {
_broadcast_gps_type("SBP", instance, dstate->current_baud); _broadcast_gps_type("SBP", instance, dstate->current_baud);
new_gps = new AP_GPS_SBP(*this, state[instance], _port[instance]); 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) && else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SIRF) &&
AP_GPS_SIRF::_detect(dstate->sirf_detect_state, data)) { AP_GPS_SIRF::_detect(dstate->sirf_detect_state, data)) {
_broadcast_gps_type("SIRF", instance, dstate->current_baud); _broadcast_gps_type("SIRF", instance, dstate->current_baud);
new_gps = new AP_GPS_SIRF(*this, state[instance], _port[instance]); new_gps = new AP_GPS_SIRF(*this, state[instance], _port[instance]);
} }
#endif
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_ERB) && else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_ERB) &&
AP_GPS_ERB::_detect(dstate->erb_detect_state, data)) { AP_GPS_ERB::_detect(dstate->erb_detect_state, data)) {
_broadcast_gps_type("ERB", instance, dstate->current_baud); _broadcast_gps_type("ERB", instance, dstate->current_baud);