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Minor polishing, fixed rate and last measurement indication

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Lorenz Meier
2013-02-04 18:14:55 +01:00
parent d4bd7225ba
commit cb0fd834ae
3 changed files with 4 additions and 10 deletions
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apps/drivers/gps/ubx.cpp
-6
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@@ -429,7 +429,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
gps_position->fix_type = packet->gpsFix;
gps_position->timestamp = hrt_absolute_time();
gps_position->counter++;
gps_position->s_variance = packet->sAcc;
gps_position->p_variance = packet->pAcc;
@@ -457,7 +456,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
gps_position->eph = packet->hDOP;
gps_position->epv = packet->vDOP;
gps_position->timestamp = hrt_absolute_time();
gps_position->counter++;
_new_nav_dop = true;
@@ -493,7 +491,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
gps_position->timestamp = hrt_absolute_time();
gps_position->counter++;
_new_nav_timeutc = true;
@@ -587,7 +584,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
}
gps_position->satellites_visible = satellites_used++; // visible ~= used but we are interested in the used ones
gps_position->timestamp = hrt_absolute_time();
gps_position->counter++;
// as this message arrives only with 1Hz and is not essential, we don't take it into account for the report
@@ -617,7 +613,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
gps_position->vel_ned_valid = true;
gps_position->cog = (uint16_t)((float)(packet->heading) * 1e-3f);
gps_position->timestamp = hrt_absolute_time();
gps_position->counter++;
@@ -645,7 +640,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
// if (_rx_ck_a == _rx_buffer[_rx_count - 1] && _rx_ck_b == _rx_buffer[_rx_count]) {
//
// gps_position->satellites_visible = packet->numVis;
// gps_position->timestamp = hrt_absolute_time();
// gps_position->counter++;
// _last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time();
// ret = 1;