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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-09-21 10:13:50 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-09-21 10:13:50 +0200 |
| commit | 42f930908fc3f60e6305257f25b625830a020a80 (patch) | |
| tree | f3a74dd68de4a0ad54378aef54b5e6033ec22805 /src/drivers/gps | |
| parent | 8d6a47546a32e6911a0f769070511baa6549ed03 (diff) | |
| download | px4-firmware-42f930908fc3f60e6305257f25b625830a020a80.tar.gz px4-firmware-42f930908fc3f60e6305257f25b625830a020a80.tar.bz2 px4-firmware-42f930908fc3f60e6305257f25b625830a020a80.zip | |
gps: more cleanup, some more info in 'gps status'
Diffstat (limited to 'src/drivers/gps')
| -rw-r--r-- | src/drivers/gps/gps.cpp | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index dd21fe61d..a84cb8e59 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -321,15 +321,15 @@ GPS::task_main() switch (_mode) { case GPS_DRIVER_MODE_UBX: - mode_str = "ubx"; + mode_str = "UBX"; break; case GPS_DRIVER_MODE_MTK: - mode_str = "mtk"; + mode_str = "MTK"; break; case GPS_DRIVER_MODE_NMEA: - mode_str = "nmea"; + mode_str = "NMEA"; break; default: @@ -371,7 +371,7 @@ GPS::task_main() } - debug("exiting"); + warnx("exiting"); ::close(_serial_fd); @@ -411,9 +411,10 @@ GPS::print_info() warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK"); if (_report.timestamp_position != 0) { - 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("position lock: %dD, satellites: %d, last update: %fms ago", (int)_report.fix_type, + _report.satellites_visible, (hrt_absolute_time() - _report.timestamp_position) / 1000.0f); warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt); + warnx("eph: %.2fm, epv: %.2fm", _report.eph_m, _report.epv_m); 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); |