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[ubx] modified for ABI approach

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This commit is contained in:
masierra
2016-02-01 16:04:05 -08:00
parent b5a929c913
commit 052c4660cf
1 changed files with 4 additions and 4 deletions
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sw/airborne/subsystems/gps/gps_ubx.c
+4 -4
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@@ -328,7 +328,7 @@ void ubx_send_cfg_rst(struct link_device *dev, uint16_t bbr , uint8_t reset_mode
void gps_ubx_msg(void)
{
// current timestamp
// uint32_t now_ts = get_sys_time_usec();
uint32_t now_ts = get_sys_time_usec();
gps_ubx.state.last_msg_ticks = sys_time.nb_sec_rem;
gps_ubx.state.last_msg_time = sys_time.nb_sec;
@@ -342,7 +342,7 @@ void gps_ubx_msg(void)
gps_ubx.state.last_3dfix_ticks = sys_time.nb_sec_rem;
gps_ubx.state.last_3dfix_time = sys_time.nb_sec;
}
// AbiSendMsgGPS(GPS_UBX_ID, now_ts, &gps);
AbiSendMsgGPS(GPS_UBX_ID, now_ts, &gps_ubx.state);
}
gps_ubx.msg_available = FALSE;
}
@@ -350,8 +350,8 @@ void gps_ubx_msg(void)
void ubx_gps_register(void)
{
#ifdef GPS_SECONDARY_UBX
gps_register_impl(ubx_gps_impl_init, ubx_gps_event, &gps_ubx.state, &gps_ubx_time_sync, 1);
gps_register_impl(ubx_gps_impl_init, ubx_gps_event, GPS_UBX_ID, 1);
#else
gps_register_impl(ubx_gps_impl_init, ubx_gps_event, &gps_ubx.state, &gps_ubx_time_sync, 0);
gps_register_impl(ubx_gps_impl_init, ubx_gps_event, GPS_UBX_ID, 0);
#endif
}