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AP_GPS: log GPS primary change event in GPS library

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Peter Barker 2021-07-30 13:18:05 +10:00 committed by Peter Barker
parent 80b4cd7ae9
commit c9699d7ce4
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_GPS/AP_GPS.cpp
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@ -925,7 +925,15 @@ void AP_GPS::update(void)
} }
} }
#if HAL_LOGGING_ENABLED
const uint8_t old_primary = primary_instance;
#endif
update_primary(); update_primary();
#if HAL_LOGGING_ENABLED
if (primary_instance != old_primary) {
AP::logger().Write_Event(LogEvent::GPS_PRIMARY_CHANGED);
}
#endif
#ifndef HAL_BUILD_AP_PERIPH #ifndef HAL_BUILD_AP_PERIPH
// update notify with gps status. We always base this on the primary_instance // update notify with gps status. We always base this on the primary_instance