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GPS driver: Obey non-publish flag in all modes

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This commit is contained in:
Lorenz Meier 2015-05-28 17:41:26 -07:00
parent aab379cde9
commit 46920cfd27
1 changed files with 7 additions and 4 deletions
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11
src/drivers/gps/gps.cpp
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@ -361,11 +361,14 @@ GPS::task_main()
_report_gps_pos.timestamp_variance = hrt_absolute_time();
_report_gps_pos.timestamp_velocity = hrt_absolute_time();
_report_gps_pos.timestamp_time = hrt_absolute_time();
if (_report_gps_pos_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
} else {
_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
if (!(_pub_blocked)) {
if (_report_gps_pos_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
} else {
_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
}
}
// GPS is obviously detected successfully, reset statistics