Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-31 20:38:27 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

[gps] replace USE_MULTI_GPS check with GPS_SECONDARY

Browse Source
This commit is contained in:
Felix Ruess
2016-02-07 22:05:33 +01:00
parent 7529efdcf1
commit 34052fb37a
1 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/subsystems/gps.c
+5 -5
View File
@@ -45,7 +45,7 @@ PRINT_CONFIG_VAR(SECONDARY_GPS)
#define RegisterGps(_x) _RegisterGps(_x)
/** maximum number of GPS implementations that can register */
#if USE_MULTI_GPS
#if GPS_SECONDARY
#define GPS_NB_IMPL 2
#else
#define GPS_NB_IMPL 1
@@ -69,7 +69,7 @@ struct GpsState gps;
struct GpsTimeSync gps_time_sync;
#if USE_MULTI_GPS
#if GPS_SECONDARY
static uint8_t current_gps_id = 0;
#endif
@@ -183,7 +183,7 @@ void gps_periodic_check(void)
}
}
#ifdef USE_MULTI_GPS
#ifdef GPS_SECONDARY
static uint8_t gps_multi_switch(struct GpsState *gps_s) {
static uint32_t time_since_last_gps_switch = 0;
@@ -210,7 +210,7 @@ static uint8_t gps_multi_switch(struct GpsState *gps_s) {
}
return current_gps_id;
}
#endif /*USE_MULTI_GPS*/
#endif /*GPS_SECONDARY*/
static abi_event gps_ev;
static void gps_cb(uint8_t sender_id,
@@ -221,7 +221,7 @@ static void gps_cb(uint8_t sender_id,
return;
}
uint32_t now_ts = get_sys_time_usec();
#ifdef USE_MULTI_GPS
#ifdef GPS_SECONDARY
current_gps_id = gps_multi_switch(gps_s);
if (gps_s->comp_id == current_gps_id) {
gps = *gps_s;