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Improved update rate for velocity estimate, not yet where we want it to be

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Lorenz Meier
2013-05-05 18:50:23 +02:00
parent 3466006735
commit 27a25b5e17
3 changed files with 8 additions and 8 deletions
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apps/drivers/gps/gps_helper.cpp
+2 -2
View File
@@ -46,13 +46,13 @@
float
GPS_Helper::get_position_update_rate()
{
_rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
return _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
}
float
GPS_Helper::get_velocity_update_rate()
{
_rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
return _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
}
float
apps/drivers/gps/ubx.cpp
+5 -5
View File
@@ -140,7 +140,7 @@ UBX::configure(unsigned &baudrate)
cfg_rate_packet.clsID = UBX_CLASS_CFG;
cfg_rate_packet.msgID = UBX_MESSAGE_CFG_RATE;
cfg_rate_packet.length = UBX_CFG_RATE_LENGTH;
cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASRATE;
cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASINTERVAL;
cfg_rate_packet.navRate = UBX_CFG_RATE_PAYLOAD_NAVRATE;
cfg_rate_packet.timeRef = UBX_CFG_RATE_PAYLOAD_TIMEREF;
@@ -176,17 +176,17 @@ UBX::configure(unsigned &baudrate)
// if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0)
// continue;
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC,
UBX_CFG_MSG_PAYLOAD_RATE1_05HZ);
1);
// /* insist of receiving the ACK for this packet */
// if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0)
// continue;
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SOL,
UBX_CFG_MSG_PAYLOAD_RATE1_05HZ);
1);
// /* insist of receiving the ACK for this packet */
// if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0)
// continue;
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_VELNED,
UBX_CFG_MSG_PAYLOAD_RATE1_5HZ);
1);
// /* insist of receiving the ACK for this packet */
// if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0)
// continue;
@@ -739,7 +739,7 @@ UBX::configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate)
msg.msg_class = msg_class;
msg.msg_id = msg_id;
msg.rate = rate;
send_message(CFG, UBX_CONFIG_STATE_RATE, &msg, sizeof(msg));
send_message(CFG, UBX_MESSAGE_CFG_MSG, &msg, sizeof(msg));
}
void
apps/drivers/gps/ubx.h
+1 -1
View File
@@ -72,7 +72,7 @@
#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */
#define UBX_CFG_RATE_LENGTH 6
#define UBX_CFG_RATE_PAYLOAD_MEASRATE 200 /**< 200ms for 5Hz */
#define UBX_CFG_RATE_PAYLOAD_MEASINTERVAL 200 /**< 200ms for 5Hz */
#define UBX_CFG_RATE_PAYLOAD_NAVRATE 1 /**< cannot be changed */
#define UBX_CFG_RATE_PAYLOAD_TIMEREF 0 /**< 0: UTC, 1: GPS time */