From 49e1c99deed67f40724ca0494a60d4f54926d543 Mon Sep 17 00:00:00 2001 From: Sebastian Verling Date: Wed, 4 May 2016 13:02:26 +0200 Subject: [PATCH] make sure gps1 always publishes to gps1 topic --- src/drivers/gps/gps.cpp | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index c0c2355b70..4de1f3e77f 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -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); + } + } /**