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AP_GPS: fixed build on non-PX4 platforms

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This commit is contained in:
Andrew Tridgell 2014-11-14 14:44:15 +11:00
parent e69582aa1c
commit d3b087d2c1
3 changed files with 15 additions and 5 deletions
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10
libraries/AP_GPS/AP_GPS.cpp
View File

@ -145,20 +145,23 @@ AP_GPS::detect_instance(uint8_t instance)
AP_GPS_Backend *new_gps = NULL;
AP_HAL::UARTDriver *port = instance==0?hal.uartB:hal.uartE;
struct detect_state *dstate = &detect_state[instance];
uint32_t now = hal.scheduler->millis();
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
if (_type[instance] == GPS_TYPE_PX4) {
// check for explicitely chosen PX4 GPS beforehand
// it is not possible to autodetect it, nor does it require a real UART
hal.console->print_P(PSTR(" PX4 "));
new_gps = new AP_GPS_PX4(*this, state[instance], port);
goto found_gps;
}
else if (port == NULL) {
#endif
if (port == NULL) {
// UART not available
return;
}
uint32_t now = hal.scheduler->millis();
state[instance].instance = instance;
state[instance].status = NO_GPS;
@ -233,6 +236,7 @@ AP_GPS::detect_instance(uint8_t instance)
#endif
}
found_gps:
if (new_gps != NULL) {
state[instance].status = NO_FIX;
drivers[instance] = new_gps;

6
libraries/AP_GPS/AP_GPS_PX4.cpp
View File

@ -22,7 +22,10 @@
//
// Code by Holger Steinhaus
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include "AP_GPS_PX4.h"
#include <uORB/uORB.h>
#include <math.h>
@ -75,4 +78,5 @@ AP_GPS_PX4::read(void)
}
return updated;
}
}
#endif

4
libraries/AP_GPS/AP_GPS_PX4.h
View File

@ -23,6 +23,7 @@
#include <AP_HAL.h>
#include <AP_GPS.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <modules/uORB/topics/vehicle_gps_position.h>
class AP_GPS_PX4 : public AP_GPS_Backend {
@ -35,5 +36,6 @@ private:
int _gps_sub;
struct vehicle_gps_position_s _gps_pos;
};
#endif // CONFIG_HAL_BOARD
#endif // AP_GPS_PX4_H
#endif // AP_GPS_SIRF_h