diff options
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); |