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Merge branch 'gps_vel' of github.com:PX4/Firmware

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Lorenz Meier
2013-05-09 16:09:33 +02:00
parent 614bbb1510 27a25b5e17
commit 5886e93a33
7 changed files with 205 additions and 104 deletions
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src/drivers/gps/gps.cpp
+10 -1
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@@ -285,6 +285,11 @@ GPS::task_main()
unlock();
if (_Helper->configure(_baudrate) == 0) {
unlock();
// 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();
/* opportunistic publishing - else invalid data would end up on the bus */
@@ -372,7 +377,11 @@ GPS::print_info()
warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
(double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f));
warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
warnx("update rate: %6.2f Hz", (double)_rate);
warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
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);