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gps blend: add failover logic and unit test

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also remove dependency to hrt library
This commit is contained in:
bresch
2021-01-30 11:32:47 +01:00
committed by Lorenz Meier
parent 9bff7a1c41
commit b4051b62a3
3 changed files with 176 additions and 49 deletions
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src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp
+1 -1
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@@ -142,7 +142,7 @@ void VehicleGPSPosition::Run()
}
if (any_gps_updated) {
_gps_blending.update();
_gps_blending.update(hrt_absolute_time());
if (_gps_blending.isNewOutputDataAvailable()) {
Publish(_gps_blending.getOutputGpsData(), _gps_blending.getSelectedGps());