From 5b8ae69f471ec609f192054fe4358953d7afbc44 Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Mon, 15 May 2023 20:17:21 -0600 Subject: [PATCH] uavcan rtcm set max num injections --- src/drivers/uavcan/sensors/gnss.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/drivers/uavcan/sensors/gnss.cpp b/src/drivers/uavcan/sensors/gnss.cpp index 2eb59d3b26..e57fc029d0 100644 --- a/src/drivers/uavcan/sensors/gnss.cpp +++ b/src/drivers/uavcan/sensors/gnss.cpp @@ -467,11 +467,11 @@ void UavcanGnssBridge::update() // to work. void UavcanGnssBridge::handleInjectDataTopic() { - // Limit maximum number of GPS injections to 6 since usually + // Limit maximum number of GPS injections to 8 since usually // GPS injections should consist of 1-4 packets (GPS, Glonass, BeiDou, Galileo). // Looking at 6 packets thus guarantees, that at least a full injection // data set is evaluated. - static constexpr size_t MAX_NUM_INJECTIONS = 6; + static constexpr size_t MAX_NUM_INJECTIONS = gps_inject_data_s::ORB_QUEUE_LENGTH;; size_t num_injections = 0; gps_inject_data_s gps_inject_data;