From 2fd3de8f45bac93b9e141682ee9489ae72f064a9 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 3 May 2023 12:10:00 +1200 Subject: [PATCH] gps: retry switching RTCM injection more often I don't think it makes sense to slow down switching RTCM injection to once every 5 seconds. If we don't have corrections, we should check and use whatever we get as soon as possible. Signed-off-by: Julian Oes --- src/drivers/gps/gps.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index cd7fb5ab76..021ac73c41 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -526,7 +526,6 @@ void GPS::handleInjectDataTopic() // If there has not been a valid RTCM message for a while, try to switch to a different RTCM link if ((hrt_absolute_time() - _last_rtcm_injection_time) > 5_s) { - _last_rtcm_injection_time = hrt_absolute_time(); for (uint8_t i = 0; i < gps_inject_data_s::MAX_INSTANCES; i++) { if (_orb_inject_data_sub.ChangeInstance(i)) {