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Increase allowed rtk injections to 8 for moving base. Update GPS submodule.

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This commit is contained in:
alexklimaj
2022-11-18 11:04:17 -05:00
committed by Daniel Agar
parent 8b61b22da6
commit 64768f1cda
2 changed files with 5 additions and 4 deletions
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src/drivers/gps/devices
+1 -1
Submodule src/drivers/gps/devices updated: fa2177d690...b49a6c2573
src/drivers/gps/gps.cpp
+4 -3
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@@ -535,11 +535,12 @@ void GPS::handleInjectDataTopic()
bool updated = false;
// 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
// Looking at 8 packets thus guarantees, that at least a full injection
// data set is evaluated.
const size_t max_num_injections = 6;
// Moving Base reuires a higher rate, so we allow up to 8 packets.
const size_t max_num_injections = gps_inject_data_s::ORB_QUEUE_LENGTH;
size_t num_injections = 0;
do {