fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 10:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Improved GPS update rate calculation

Browse Source
This commit is contained in:
Lorenz Meier
2013-05-09 17:13:38 +02:00
parent 5886e93a33
commit 3ec536a876
3 changed files with 15 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gps/gps.cpp
+2 -2
View File
@@ -288,7 +288,6 @@ GPS::task_main()
// GPS is obviously detected successfully, reset statistics
_Helper->reset_update_rates();
warnx("module configuration successful");
while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
// lock();
@@ -306,6 +305,8 @@ GPS::task_main()
_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
last_rate_measurement = hrt_absolute_time();
last_rate_count = 0;
_Helper->store_update_rates();
_Helper->reset_update_rates();
}
if (!_healthy) {
@@ -381,7 +382,6 @@ GPS::print_info()
warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
warnx("rate publication:\t%6.2f Hz", (double)_rate);
_Helper->reset_update_rates();
}
usleep(100000);