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

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

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index a328f8136197f2933fe0d124bbd99e03dc482e0c..9afa5d386bf2c4ba86c78c3c4ed3031347491e4c 100644 (file)
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -20,6 +20,10 @@
 #include "ao.h"
 #endif
 
+#ifdef HAS_GPS_MOSAIC
+#include "ao_gps_mosaic.h"
+#endif
+
 #include "ao_gps_ublox.h"
 
 #define AO_UBLOX_DEBUG 0
@@ -851,10 +855,14 @@ ao_gps(void)
 
 #ifdef HAS_GPS_MOSAIC
        ao_config_get();
-       if (ao_config.gps_mosaic)
-               ao_exit();
+       if (ao_config.gps_mosaic) {
+               ao_gps_mosaic();
+               return;
+       }
 #endif
+#ifndef AO_GPS_TEST
        ao_cmd_register(&ao_gps_cmds[0]);
+#endif
 
        ao_gps_setup();