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AP_GPS: stop using HAL_BUILD_AP_PERIPH to gate GPS backends

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Peter Barker 2022-04-10 09:16:54 +10:00 committed by Andrew Tridgell
parent cdfa682be0
commit ccca0e8e0f
1 changed files with 0 additions and 7 deletions
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7
libraries/AP_GPS/AP_GPS.cpp
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@ -632,13 +632,11 @@ void AP_GPS::detect_instance(uint8_t instance)
// user has to explicitly set the MAV type, do not use AUTO
// do not try to detect the MAV type, assume it's there
case GPS_TYPE_MAV:
#ifndef HAL_BUILD_AP_PERIPH
#if AP_GPS_MAV_ENABLED
dstate->auto_detected_baud = false; // specified, not detected
new_gps = new AP_GPS_MAV(*this, state[instance], nullptr);
goto found_gps;
#endif //AP_GPS_MAV_ENABLED
#endif
break;
// user has to explicitly set the UAVCAN type, do not use AUTO
@ -676,8 +674,6 @@ void AP_GPS::detect_instance(uint8_t instance)
// the correct baud rate, and should have the selected baud broadcast
dstate->auto_detected_baud = true;
// don't build the less common GPS drivers on F1 AP_Periph
#if !defined(HAL_BUILD_AP_PERIPH) || !defined(STM32F1)
switch (_type[instance]) {
#if AP_GPS_SBF_ENABLED
// by default the sbf/trimble gps outputs no data on its port, until configured.
@ -705,7 +701,6 @@ void AP_GPS::detect_instance(uint8_t instance)
default:
break;
}
#endif // HAL_BUILD_AP_PERIPH
if (now - dstate->last_baud_change_ms > GPS_BAUD_TIME_MS) {
// try the next baud rate
@ -762,7 +757,6 @@ void AP_GPS::detect_instance(uint8_t instance)
}
new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance], role);
}
#ifndef HAL_BUILD_AP_PERIPH
#if AP_GPS_SBP2_ENABLED
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) &&
AP_GPS_SBP2::_detect(dstate->sbp2_detect_state, data)) {
@ -796,7 +790,6 @@ void AP_GPS::detect_instance(uint8_t instance)
}
#endif //AP_GPS_NMEA_ENABLED
#endif // HAL_BUILD_AP_PERIPH
if (new_gps) {
goto found_gps;
}