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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-05 12:57:21 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-05 12:57:21 +0200 |
| commit | 3466006735123bfd27c94538d98af5b79f47d5a0 (patch) | |
| tree | 308890bc1dada58261bd2045e664b939029a92da /apps/drivers/gps/gps.cpp | |
| parent | f9c0ff0f203dbd4e6f34ac3275b2dea0bc6708ac (diff) | |
| download | px4-firmware-3466006735123bfd27c94538d98af5b79f47d5a0.tar.gz px4-firmware-3466006735123bfd27c94538d98af5b79f47d5a0.tar.bz2 px4-firmware-3466006735123bfd27c94538d98af5b79f47d5a0.zip | |
GPS velocity update rate validation for u-blox, WIP
Diffstat (limited to 'apps/drivers/gps/gps.cpp')
| -rw-r--r-- | apps/drivers/gps/gps.cpp | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp index e35bdb944..7db257816 100644 --- a/apps/drivers/gps/gps.cpp +++ b/apps/drivers/gps/gps.cpp @@ -285,6 +285,11 @@ GPS::task_main() unlock(); if (_Helper->configure(_baudrate) == 0) { unlock(); + + // GPS is obviously detected successfully, reset statistics + _Helper->reset_update_rates(); + warnx("module configuration successful"); + while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { // lock(); /* opportunistic publishing - else invalid data would end up on the bus */ @@ -372,7 +377,11 @@ GPS::print_info() warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type, (double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f)); warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt); - warnx("update rate: %6.2f Hz", (double)_rate); + warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate()); + warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate()); + warnx("rate publication:\t%6.2f Hz", (double)_rate); + + _Helper->reset_update_rates(); } usleep(100000); |