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drivers/gps: limit to ublox only flash constrained targets

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Daniel Agar 2021-01-17 20:39:26 -05:00 committed by Beat Küng
parent 78c05275d2
commit dab90f86a4
1 changed files with 15 additions and 5 deletions
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20
src/drivers/gps/gps.cpp
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@ -61,9 +61,11 @@
#include <uORB/topics/gps_inject_data.h>
#include <uORB/topics/sensor_gps.h>
#include "devices/src/ashtech.h"
#include "devices/src/emlid_reach.h"
#include "devices/src/mtk.h"
#ifndef CONSTRAINED_FLASH
# include "devices/src/ashtech.h"
# include "devices/src/emlid_reach.h"
# include "devices/src/mtk.h"
#endif // CONSTRAINED_FLASH
#include "devices/src/ubx.h"
#ifdef __PX4_LINUX
@ -288,12 +290,14 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
switch (protocol) {
case 1: _mode = GPS_DRIVER_MODE_UBX; break;
#ifndef CONSTRAINED_FLASH
case 2: _mode = GPS_DRIVER_MODE_MTK; break;
case 3: _mode = GPS_DRIVER_MODE_ASHTECH; break;
case 4: _mode = GPS_DRIVER_MODE_EMLIDREACH; break;
#endif // CONSTRAINED_FLASH
}
}
@ -762,6 +766,7 @@ GPS::run()
_helper = new GPSDriverUBX(_interface, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info,
gps_ubx_dynmodel, heading_offset, ubx_mode);
break;
#ifndef CONSTRAINED_FLASH
case GPS_DRIVER_MODE_MTK:
_helper = new GPSDriverMTK(&GPS::callback, this, &_report_gps_pos);
@ -774,6 +779,7 @@ GPS::run()
case GPS_DRIVER_MODE_EMLIDREACH:
_helper = new GPSDriverEmlidReach(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
break;
#endif // CONSTRAINED_FLASH
default:
break;
@ -867,6 +873,7 @@ GPS::run()
if (_mode_auto) {
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
#ifndef CONSTRAINED_FLASH
_mode = GPS_DRIVER_MODE_MTK;
break;
@ -879,6 +886,7 @@ GPS::run()
break;
case GPS_DRIVER_MODE_EMLIDREACH:
#endif // CONSTRAINED_FLASH
_mode = GPS_DRIVER_MODE_UBX;
px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
break;
@ -928,6 +936,7 @@ GPS::print_status()
case GPS_DRIVER_MODE_UBX:
PX4_INFO("protocol: UBX");
break;
#ifndef CONSTRAINED_FLASH
case GPS_DRIVER_MODE_MTK:
PX4_INFO("protocol: MTK");
@ -940,6 +949,7 @@ GPS::print_status()
case GPS_DRIVER_MODE_EMLIDREACH:
PX4_INFO("protocol: EMLIDREACH");
break;
#endif // CONSTRAINED_FLASH
default:
break;
@ -1247,7 +1257,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
case 'p':
if (!strcmp(myoptarg, "ubx")) {
mode = GPS_DRIVER_MODE_UBX;
#ifndef CONSTRAINED_FLASH
} else if (!strcmp(myoptarg, "mtk")) {
mode = GPS_DRIVER_MODE_MTK;
@ -1256,7 +1266,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
} else if (!strcmp(myoptarg, "eml")) {
mode = GPS_DRIVER_MODE_EMLIDREACH;
#endif // CONSTRAINED_FLASH
} else {
PX4_ERR("unknown protocol: %s", myoptarg);
error_flag = true;