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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-05 18:50:23 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-05 18:50:23 +0200 |
| commit | 27a25b5e172c972e4f9f31c2a30114498346bb08 (patch) | |
| tree | 08738316cc4af5cbe948a3b4404191fa7e6b42d9 /apps | |
| parent | 3466006735123bfd27c94538d98af5b79f47d5a0 (diff) | |
| download | px4-firmware-27a25b5e172c972e4f9f31c2a30114498346bb08.tar.gz px4-firmware-27a25b5e172c972e4f9f31c2a30114498346bb08.tar.bz2 px4-firmware-27a25b5e172c972e4f9f31c2a30114498346bb08.zip | |
Improved update rate for velocity estimate, not yet where we want it to be
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/drivers/gps/gps_helper.cpp | 4 | ||||
| -rw-r--r-- | apps/drivers/gps/ubx.cpp | 10 | ||||
| -rw-r--r-- | apps/drivers/gps/ubx.h | 2 |
3 files changed, 8 insertions, 8 deletions
diff --git a/apps/drivers/gps/gps_helper.cpp b/apps/drivers/gps/gps_helper.cpp index b03cccb45..54ac90dab 100644 --- a/apps/drivers/gps/gps_helper.cpp +++ b/apps/drivers/gps/gps_helper.cpp @@ -46,13 +46,13 @@ float GPS_Helper::get_position_update_rate() { - _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); + return _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); } float GPS_Helper::get_velocity_update_rate() { - _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); + return _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); } float diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp index e887e8f7c..b3093b0f6 100644 --- a/apps/drivers/gps/ubx.cpp +++ b/apps/drivers/gps/ubx.cpp @@ -140,7 +140,7 @@ UBX::configure(unsigned &baudrate) cfg_rate_packet.clsID = UBX_CLASS_CFG; cfg_rate_packet.msgID = UBX_MESSAGE_CFG_RATE; cfg_rate_packet.length = UBX_CFG_RATE_LENGTH; - cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASRATE; + cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASINTERVAL; cfg_rate_packet.navRate = UBX_CFG_RATE_PAYLOAD_NAVRATE; cfg_rate_packet.timeRef = UBX_CFG_RATE_PAYLOAD_TIMEREF; @@ -176,17 +176,17 @@ UBX::configure(unsigned &baudrate) // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) // continue; configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, - UBX_CFG_MSG_PAYLOAD_RATE1_05HZ); + 1); // /* insist of receiving the ACK for this packet */ // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) // continue; configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SOL, - UBX_CFG_MSG_PAYLOAD_RATE1_05HZ); + 1); // /* insist of receiving the ACK for this packet */ // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) // continue; configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_VELNED, - UBX_CFG_MSG_PAYLOAD_RATE1_5HZ); + 1); // /* insist of receiving the ACK for this packet */ // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) // continue; @@ -739,7 +739,7 @@ UBX::configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate) msg.msg_class = msg_class; msg.msg_id = msg_id; msg.rate = rate; - send_message(CFG, UBX_CONFIG_STATE_RATE, &msg, sizeof(msg)); + send_message(CFG, UBX_MESSAGE_CFG_MSG, &msg, sizeof(msg)); } void diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h index a6cd0685d..5a433642c 100644 --- a/apps/drivers/gps/ubx.h +++ b/apps/drivers/gps/ubx.h @@ -72,7 +72,7 @@ #define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */ #define UBX_CFG_RATE_LENGTH 6 -#define UBX_CFG_RATE_PAYLOAD_MEASRATE 200 /**< 200ms for 5Hz */ +#define UBX_CFG_RATE_PAYLOAD_MEASINTERVAL 200 /**< 200ms for 5Hz */ #define UBX_CFG_RATE_PAYLOAD_NAVRATE 1 /**< cannot be changed */ #define UBX_CFG_RATE_PAYLOAD_TIMEREF 0 /**< 0: UTC, 1: GPS time */ |