diff options
Diffstat (limited to 'apps/gps/ubx.c')
| -rw-r--r-- | apps/gps/ubx.c | 11 |
1 files changed, 6 insertions, 5 deletions
diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c index 03ae622a1..21e917bf8 100644 --- a/apps/gps/ubx.c +++ b/apps/gps/ubx.c @@ -272,7 +272,8 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) ubx_gps->timestamp = hrt_absolute_time(); ubx_gps->counter++; - + ubx_gps->s_variance = packet->sAcc; + ubx_gps->p_variance = packet->pAcc; //pthread_mutex_lock(ubx_mutex); ubx_state->last_message_timestamps[NAV_SOL - 1] = hrt_absolute_time(); @@ -785,10 +786,6 @@ void *ubx_watchdog_loop(void *args) sleep(1); } else { - /* gps healthy */ - ubx_success_count++; - ubx_healthy = true; - ubx_fail_count = 0; if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) { //printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed); @@ -799,6 +796,10 @@ void *ubx_watchdog_loop(void *args) once_ok = true; } + /* gps healthy */ + ubx_success_count++; + ubx_healthy = true; + ubx_fail_count = 0; } usleep(UBX_WATCHDOG_WAIT_TIME_MICROSECONDS); |