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sbg
Sebastian Verling 9 years ago committed by Lorenz Meier
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62a152227a
commit
e7ed07cf3c
1 changed files with 16 additions and 12 deletions
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  1. 28
      src/drivers/gps/gps.cpp

28
src/drivers/gps/gps.cpp
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@ -303,10 +303,12 @@ int GPS::init()
void GPS::task_main_trampoline(int argc, char *argv[]) void GPS::task_main_trampoline(int argc, char *argv[])
{ {
if (!strcmp(argv[1], "1")) if (!strcmp(argv[1], "1")) {
g_dev[0]->task_main(); g_dev[0]->task_main();
else if (!strcmp(argv[1], "2"))
g_dev[1]->task_main(); } else if (!strcmp(argv[1], "2")) {
g_dev[1]->task_main();
}
} }
int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user) int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
@ -813,14 +815,14 @@ GPS::print_info()
void void
GPS::publish() GPS::publish()
{ {
if(_gps_num == 1){ if (_gps_num == 1) {
orb_publish_auto(ORB_ID(vehicle_gps_position), &_report_gps_pos_pub, &_report_gps_pos, &_gps_orb_instance, orb_publish_auto(ORB_ID(vehicle_gps_position), &_report_gps_pos_pub, &_report_gps_pos, &_gps_orb_instance,
ORB_PRIO_DEFAULT); ORB_PRIO_DEFAULT);
is_gps1_advertised = true; is_gps1_advertised = true;
}
else if(is_gps1_advertised){ } else if (is_gps1_advertised) {
orb_publish_auto(ORB_ID(vehicle_gps_position), &_report_gps_pos_pub, &_report_gps_pos, &_gps_orb_instance, orb_publish_auto(ORB_ID(vehicle_gps_position), &_report_gps_pos_pub, &_report_gps_pos, &_gps_orb_instance,
ORB_PRIO_DEFAULT); ORB_PRIO_DEFAULT);
} }
} }
@ -860,6 +862,7 @@ start(const char *uart_path, bool fake_gps, bool enable_sat_info, int gps_num)
if (OK != g_dev[0]->init()) { if (OK != g_dev[0]->init()) {
goto fail1; goto fail1;
} }
return; return;
} else { } else {
@ -879,6 +882,7 @@ start(const char *uart_path, bool fake_gps, bool enable_sat_info, int gps_num)
if (OK != g_dev[1]->init()) { if (OK != g_dev[1]->init()) {
goto fail2; goto fail2;
} }
return; return;
} }

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