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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-09 17:13:38 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-09 17:13:38 +0200 |
| commit | 3ec536a876a66f4e56549957e81ed4547c92a0c3 (patch) | |
| tree | b0f318ae468e1aa710e24287425a282b2208d55c /src/drivers/gps/gps_helper.cpp | |
| parent | 5886e93a33329d39dc2ea535d224fcd60ab7afd7 (diff) | |
| download | px4-firmware-3ec536a876a66f4e56549957e81ed4547c92a0c3.tar.gz px4-firmware-3ec536a876a66f4e56549957e81ed4547c92a0c3.tar.bz2 px4-firmware-3ec536a876a66f4e56549957e81ed4547c92a0c3.zip | |
Improved GPS update rate calculation
Diffstat (limited to 'src/drivers/gps/gps_helper.cpp')
| -rw-r--r-- | src/drivers/gps/gps_helper.cpp | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/src/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp index 54ac90dab..ba86d370a 100644 --- a/src/drivers/gps/gps_helper.cpp +++ b/src/drivers/gps/gps_helper.cpp @@ -46,13 +46,13 @@ float GPS_Helper::get_position_update_rate() { - return _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); + return _rate_lat_lon; } float GPS_Helper::get_velocity_update_rate() { - return _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); + return _rate_vel; } float @@ -63,6 +63,13 @@ GPS_Helper::reset_update_rates() _interval_rate_start = hrt_absolute_time(); } +float +GPS_Helper::store_update_rates() +{ + _rate_vel = _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); + _rate_lat_lon = _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); +} + int GPS_Helper::set_baudrate(const int &fd, unsigned baud) { |