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make sure gps1 always publishes to gps1 topic

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This commit is contained in:
Sebastian Verling
2016-05-04 13:02:26 +02:00
committed by Lorenz Meier
parent 7c5d10d57c
commit 49e1c99dee
1 changed files with 9 additions and 1 deletions
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10
src/drivers/gps/gps.cpp
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@@ -215,7 +215,7 @@ namespace
{
GPS *g_dev[2] = {nullptr, nullptr};
volatile bool is_gps1_advertised = false;
}
@@ -814,8 +814,16 @@ GPS::print_info()
void
GPS::publish()
{
if(_gps_num == 1){
orb_publish_auto(ORB_ID(vehicle_gps_position), &_report_gps_pos_pub, &_report_gps_pos, &_gps_orb_instance,
ORB_PRIO_DEFAULT);
is_gps1_advertised = true;
}
else if(is_gps1_advertised){
orb_publish_auto(ORB_ID(vehicle_gps_position), &_report_gps_pos_pub, &_report_gps_pos, &_gps_orb_instance,
ORB_PRIO_DEFAULT);
}
}
/**