From d3b087d2c1959ec70178d7d8b73df2277854d9ee Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 14 Nov 2014 14:44:15 +1100
Subject: [PATCH] AP_GPS: fixed build on non-PX4 platforms
---
libraries/AP_GPS/AP_GPS.cpp | 10 +++++++---
libraries/AP_GPS/AP_GPS_PX4.cpp | 6 +++++-
libraries/AP_GPS/AP_GPS_PX4.h | 4 +++-
3 files changed, 15 insertions(+), 5 deletions(-)
diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index ffc8fb2f2..00ccd2b6a 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -145,20 +145,23 @@ AP_GPS::detect_instance(uint8_t instance)
AP_GPS_Backend *new_gps = NULL;
AP_HAL::UARTDriver *port = instance==0?hal.uartB:hal.uartE;
struct detect_state *dstate = &detect_state[instance];
+ uint32_t now = hal.scheduler->millis();
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
if (_type[instance] == GPS_TYPE_PX4) {
// check for explicitely chosen PX4 GPS beforehand
// it is not possible to autodetect it, nor does it require a real UART
hal.console->print_P(PSTR(" PX4 "));
new_gps = new AP_GPS_PX4(*this, state[instance], port);
+ goto found_gps;
}
- else if (port == NULL) {
+#endif
+
+ if (port == NULL) {
// UART not available
return;
}
- uint32_t now = hal.scheduler->millis();
-
state[instance].instance = instance;
state[instance].status = NO_GPS;
@@ -233,6 +236,7 @@ AP_GPS::detect_instance(uint8_t instance)
#endif
}
+found_gps:
if (new_gps != NULL) {
state[instance].status = NO_FIX;
drivers[instance] = new_gps;
diff --git a/libraries/AP_GPS/AP_GPS_PX4.cpp b/libraries/AP_GPS/AP_GPS_PX4.cpp
index add1c9201..d72f88ff3 100644
--- a/libraries/AP_GPS/AP_GPS_PX4.cpp
+++ b/libraries/AP_GPS/AP_GPS_PX4.cpp
@@ -22,7 +22,10 @@
//
// Code by Holger Steinhaus
+#include <AP_HAL.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include "AP_GPS_PX4.h"
+
#include <uORB/uORB.h>
#include <math.h>
@@ -75,4 +78,5 @@ AP_GPS_PX4::read(void)
}
return updated;
-}
\ No newline at end of file
+}
+#endif
diff --git a/libraries/AP_GPS/AP_GPS_PX4.h b/libraries/AP_GPS/AP_GPS_PX4.h
index 6f5222ceb..837fc991c 100644
--- a/libraries/AP_GPS/AP_GPS_PX4.h
+++ b/libraries/AP_GPS/AP_GPS_PX4.h
@@ -23,6 +23,7 @@
#include <AP_HAL.h>
#include <AP_GPS.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <modules/uORB/topics/vehicle_gps_position.h>
class AP_GPS_PX4 : public AP_GPS_Backend {
@@ -35,5 +36,6 @@ private:
int _gps_sub;
struct vehicle_gps_position_s _gps_pos;
};
+#endif // CONFIG_HAL_BOARD
+#endif // AP_GPS_PX4_H
-#endif // AP_GPS_SIRF_h
--
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