diff options
Diffstat (limited to 'src/drivers/gps/gps.cpp')
| -rw-r--r-- | src/drivers/gps/gps.cpp | 21 |
1 files changed, 13 insertions, 8 deletions
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 6b72d560f..a736cbdf6 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -289,11 +289,13 @@ GPS::task_main() //no time and satellite information simulated - if (_report_pub > 0) { - orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); + if (!(_pub_blocked)) { + if (_report_pub > 0) { + orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); - } else { - _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } else { + _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } } usleep(2e5); @@ -330,11 +332,14 @@ GPS::task_main() while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { // lock(); /* opportunistic publishing - else invalid data would end up on the bus */ - if (_report_pub > 0) { - orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); - } else { - _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + if (!(_pub_blocked)) { + if (_report_pub > 0) { + orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); + + } else { + _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } } last_rate_count++; |