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Improved GPS update rate calculation

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Lorenz Meier
2013-05-09 17:13:38 +02:00
parent 5886e93a33
commit 3ec536a876
3 changed files with 15 additions and 4 deletions
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src/drivers/gps/gps_helper.cpp
+9 -2
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@@ -46,13 +46,13 @@
float
GPS_Helper::get_position_update_rate()
{
return _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
return _rate_lat_lon;
}
float
GPS_Helper::get_velocity_update_rate()
{
return _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
return _rate_vel;
}
float
@@ -63,6 +63,13 @@ GPS_Helper::reset_update_rates()
_interval_rate_start = hrt_absolute_time();
}
float
GPS_Helper::store_update_rates()
{
_rate_vel = _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
_rate_lat_lon = _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
}
int
GPS_Helper::set_baudrate(const int &fd, unsigned baud)
{