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AP_GPS: prevent double allocation of GPS drivers

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This commit is contained in:
Andrew Tridgell 2014-03-31 22:13:55 +11:00
parent 8779ffe088
commit 7ceba8dce4
1 changed files with 8 additions and 2 deletions
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10
libraries/AP_GPS/AP_GPS.cpp
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@ -113,6 +113,9 @@ AP_GPS::detect_instance(uint8_t instance)
uint32_t now = hal.scheduler->millis();
state[instance].instance = instance;
state[instance].status = NO_GPS;
// record the time when we started detection. This is used to try
// to avoid initialising a uBlox as a NMEA GPS
if (dstate->detect_started_ms == 0) {
@ -178,9 +181,12 @@ AP_GPS::detect_instance(uint8_t instance)
}
if (new_gps != NULL) {
drivers[instance] = new_gps;
state[instance].status = NO_FIX;
state[instance].instance = instance;
if (drivers[instance] != NULL) {
delete drivers[instance];
}
drivers[instance] = new_gps;
timing[instance].last_message_time_ms = now;
}
}