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AP_GPS: Only inject RTCM data to the selected GPS device defined in GPS_INJECT_TO parameter

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Dr.-Ing. Amilcar Do Carmo Lucas 2016-12-08 09:33:39 +01:00 committed by Francisco Ferreira
parent 12f83ecf75
commit 5261654756
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_GPS/AP_GPS.cpp
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@ -963,7 +963,7 @@ void AP_GPS::handle_gps_rtcm_data(const mavlink_message_t *msg)
if ((packet.flags & 1) == 0) { if ((packet.flags & 1) == 0) {
// it is not fragmented, pass direct // it is not fragmented, pass direct
inject_data_all(packet.data, packet.len); inject_data(packet.data, packet.len);
return; return;
} }
@ -1013,7 +1013,7 @@ void AP_GPS::handle_gps_rtcm_data(const mavlink_message_t *msg)
if (rtcm_buffer->fragment_count != 0 && if (rtcm_buffer->fragment_count != 0 &&
rtcm_buffer->fragments_received == (1U << rtcm_buffer->fragment_count) - 1) { rtcm_buffer->fragments_received == (1U << rtcm_buffer->fragment_count) - 1) {
// we have them all, inject // we have them all, inject
inject_data_all(rtcm_buffer->buffer, rtcm_buffer->total_length); inject_data(rtcm_buffer->buffer, rtcm_buffer->total_length);
memset(rtcm_buffer, 0, sizeof(*rtcm_buffer)); memset(rtcm_buffer, 0, sizeof(*rtcm_buffer));
} }
} }