altos: Share same task struct for ublox and mosaic GPS drivers

[fw/altos] / src / drivers / ao_gps_mosaic.c

diff --git a/src/drivers/ao_gps_mosaic.c b/src/drivers/ao_gps_mosaic.c
index 0f0dc6fbfa4dbcb175e72f5728226c0f36dee7ba..874acfda82983d3f0daa051a0f0401e51735b304 100644 (file)
--- a/src/drivers/ao_gps_mosaic.c
+++ b/src/drivers/ao_gps_mosaic.c
@@ -183,17 +183,13 @@ clip_value(float value, float low, float high)
        return (int32_t) roundf(value);
 }
 
-static void
-mosaic(void)
+void
+ao_gps_mosaic(void)
 {
        AO_TICK_TYPE            packet_start_tick;
        AO_TICK_TYPE            solution_tick = 0;
 
 #ifndef AO_GPS_TEST
-       ao_config_get();
-       if (!ao_config.gps_mosaic)
-               ao_exit();
-
        ao_cmd_register(&ao_mosaic_cmds[0]);
 #endif
        mosaic_setup();
@@ -361,14 +357,4 @@ mosaic(void)
        }
 }
 
-#ifndef AO_GPS_TEST
-static struct ao_task mosaic_task;
-
-void
-ao_gps_mosaic_init(void)
-{
-       ao_add_task(&mosaic_task, mosaic, "mosaic");
-}
-#endif
-
 #endif