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AP_GPS: added get_semaphore()

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This commit is contained in:
Andrew Tridgell 2020-01-04 11:06:05 +11:00
parent dc3e345a05
commit f0d1d3fa90
2 changed files with 8 additions and 0 deletions
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2
libraries/AP_GPS/AP_GPS.cpp
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@ -772,6 +772,8 @@ void AP_GPS::update_instance(uint8_t instance)
*/
void AP_GPS::update(void)
{
WITH_SEMAPHORE(rsem);
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
update_instance(i);
}

6
libraries/AP_GPS/AP_GPS.h
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@ -74,6 +74,11 @@ public:
return _singleton;
}
// allow threads to lock against GPS update
HAL_Semaphore &get_semaphore(void) {
return rsem;
}
// GPS driver types
enum GPS_Type {
GPS_TYPE_NONE = 0,
@ -488,6 +493,7 @@ protected:
private:
static AP_GPS *_singleton;
HAL_Semaphore_Recursive rsem;
// returns the desired gps update rate in milliseconds
// this does not provide any guarantee that the GPS is updating at the requested