From d122f00c142c3559d5e89b00a465f2b8bc039961 Mon Sep 17 00:00:00 2001 From: Siddharth Purohit Date: Mon, 27 Jul 2020 18:23:56 +0530 Subject: [PATCH] AP_GPS: redetection not necessary for UAVCAN GPS --- libraries/AP_GPS/AP_GPS.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp index 1b4c67a64a..e596f9d50f 100644 --- a/libraries/AP_GPS/AP_GPS.cpp +++ b/libraries/AP_GPS/AP_GPS.cpp @@ -717,8 +717,8 @@ void AP_GPS::update_instance(uint8_t instance) state[instance].vdop = GPS_UNKNOWN_DOP; timing[instance].last_message_time_ms = tnow; timing[instance].delta_time_ms = GPS_TIMEOUT_MS; - // do not try to detect again if type is MAV - if (_type[instance] == GPS_TYPE_MAV) { + // do not try to detect again if type is MAV or UAVCAN + if (_type[instance] == GPS_TYPE_MAV || _type[instance] == GPS_TYPE_UAVCAN) { state[instance].status = NO_FIX; } else { // free the driver before we run the next detection, so we