[gps] adapt vectornav ins to multi GPS support

conf/firmwares/subsystems/shared/ins_vectornav.makefile

@@ -18,6 +18,19 @@ VN_SRCS += subsystems/ins/ins_vectornav_wrapper.c
 #
 VN_CFLAGS += -DUSE_GPS
 VN_SRCS += $(SRC_SUBSYSTEMS)/gps.c
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), vectornav))
+# this is the secondary GPS
+VN_CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/ins_vectornav_wrapper.h\"
+VN_CFLAGS += -DSECONDARY_GPS=gps_ubx
+else
+VN_CFLAGS += -DGPS_TYPE_H=\"subsystems/ins/ins_vectornav_wrapper.h\"
+VN_CFLAGS += -DPRIMARY_GPS=gps_ubx
+endif
+else
+# plain old single GPS usage
+VN_CFLAGS += -DGPS_TYPE_H=\"subsystems/ins/ins_vectornav_wrapper.h\"
+endif
 
 
 #

sw/airborne/subsystems/abi_sender_ids.h

@@ -161,7 +161,11 @@
 #ifndef GPS_MULTI_ID
 #define GPS_MULTI_ID 12
 #endif
- 
+
+#ifndef GPS_VECTORNAV_ID
+#define GPS_VECTORNAV_ID 13
+#endif
+
 /*
  * IDs of IMU sensors (accel, gyro)
  */

sw/airborne/subsystems/ins/ins_vectornav_wrapper.c

@@ -33,3 +33,14 @@ void ins_vectornav_register(void)
 {
   ins_register_impl(ins_vectornav_init);
 }
+
+void gps_vectornav_init(void)
+{
+  gps.nb_channels = 0;
+}
+
+void gps_vectornav_register(void)
+{
+  gps_register_impl(gps_vectornav_init, NULL, GPS_VECTORNAV_ID);
+}
+

sw/airborne/subsystems/ins/ins_vectornav_wrapper.h

@@ -37,8 +37,12 @@
 
 #define InsEvent ins_vectornav_event
 
-#define GpsEvent() {}
-
 extern void ins_vectornav_register(void);
 
+#ifndef PRIMARY_GPS
+#define PRIMARY_GPS gps_vectornav
+#endif
+extern void gps_vectornav_init(void);
+extern void gps_vectornav_register(void);
+
 #endif /* INS_VECTORNAV_WRAPPER_H */