fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

formatting

Browse Source
This commit is contained in:
Sebastian Verling 2016-05-04 13:50:08 +02:00 committed by Lorenz Meier
parent 62a152227a
commit e7ed07cf3c
1 changed files with 16 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
src/drivers/gps/gps.cpp
View File

@ -303,10 +303,12 @@ int GPS::init()
void GPS::task_main_trampoline(int argc, char *argv[])
{
if (!strcmp(argv[1], "1"))
g_dev[0]->task_main();
else if (!strcmp(argv[1], "2"))
g_dev[1]->task_main();
if (!strcmp(argv[1], "1")) {
g_dev[0]->task_main();
} else if (!strcmp(argv[1], "2")) {
g_dev[1]->task_main();
}
}
int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
@ -813,14 +815,14 @@ 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);
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);
}
}
@ -860,6 +862,7 @@ start(const char *uart_path, bool fake_gps, bool enable_sat_info, int gps_num)
if (OK != g_dev[0]->init()) {
goto fail1;
}
return;
} else {
@ -879,6 +882,7 @@ start(const char *uart_path, bool fake_gps, bool enable_sat_info, int gps_num)
if (OK != g_dev[1]->init()) {
goto fail2;
}
return;
}