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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_helper.cpp
+25 -2
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
@@ -36,9 +36,32 @@
#include <termios.h>
#include <errno.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include "gps_helper.h"
/* @file gps_helper.cpp */
/**
* @file gps_helper.cpp
*/
float
GPS_Helper::get_position_update_rate()
{
return _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
}
float
GPS_Helper::get_velocity_update_rate()
{
return _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
}
float
GPS_Helper::reset_update_rates()
{
_rate_count_vel = 0;
_rate_count_lat_lon = 0;
_interval_rate_start = hrt_absolute_time();
}
int
GPS_Helper::set_baudrate(const int &fd, unsigned baud)