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AP_GPS: always send GPS2_RAW if 2nd GPS configured

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this improves the display on the GCS when the GPS has not yet been
found. This is particularly important after a reboot, as otherwise the
GCS may display stale information from the previous boot
This commit is contained in:
Andrew Tridgell 2020-10-05 08:18:12 +11:00 committed by Peter Barker
parent 92f34a19d3
commit e995a198bd
2 changed files with 2 additions and 8 deletions
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7
libraries/AP_GPS/AP_GPS.cpp
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@ -665,9 +665,6 @@ found_gps:
timing[instance].last_message_time_ms = now; timing[instance].last_message_time_ms = now;
timing[instance].delta_time_ms = GPS_TIMEOUT_MS; timing[instance].delta_time_ms = GPS_TIMEOUT_MS;
new_gps->broadcast_gps_type(); new_gps->broadcast_gps_type();
if (instance == 1) {
has_had_second_instance = true;
}
} }
} }
@ -1186,8 +1183,8 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
#if GPS_MAX_RECEIVERS > 1 #if GPS_MAX_RECEIVERS > 1
void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan) void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
{ {
// always send the message once we've ever seen the GPS // always send the message if 2nd GPS is configured
if (!has_had_second_instance) { if (_type[1] == GPS_TYPE_NONE) {
return; return;
} }

3
libraries/AP_GPS/AP_GPS.h
View File

@ -659,9 +659,6 @@ private:
// used for flight testing with GPS yaw loss // used for flight testing with GPS yaw loss
bool _force_disable_gps_yaw; bool _force_disable_gps_yaw;
// used to ensure we continue sending status messages if we ever detected the second GPS
bool has_had_second_instance;
}; };
namespace AP { namespace AP {