diff options
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/drivers/gps/gps.cpp | 6 | ||||
| -rw-r--r-- | apps/drivers/gps/ubx.cpp | 6 | ||||
| -rw-r--r-- | apps/mavlink/orb_listener.c | 2 |
3 files changed, 4 insertions, 10 deletions
diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp index bd77e8969..49b94fc2e 100644 --- a/apps/drivers/gps/gps.cpp +++ b/apps/drivers/gps/gps.cpp @@ -430,7 +430,7 @@ GPS::task_main() /* measure update rate every 5 seconds */ if (hrt_absolute_time() - last_rate_measurement > 5000000) { - _rate = last_rate_count / (float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f; + _rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f); last_rate_measurement = hrt_absolute_time(); last_rate_count = 0; } @@ -523,8 +523,8 @@ GPS::print_info() } warnx("baudrate: %d, status: %s", _baudrate, (_config_needed) ? "NOT OK" : "OK"); if (_report.timestamp != 0) { - warnx("position lock: %dD, last update %d seconds ago", (int)_report.fix_type, - int((hrt_absolute_time() - _report.timestamp) / 1000000)); + warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type, + ((float)(hrt_absolute_time() - _report.timestamp) / 1000000.0f)); warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt); warnx("update rate: %6.2f Hz", (double)_rate); } diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp index fe4758d8c..1105e0da4 100644 --- a/apps/drivers/gps/ubx.cpp +++ b/apps/drivers/gps/ubx.cpp @@ -429,7 +429,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) gps_position->fix_type = packet->gpsFix; - gps_position->timestamp = hrt_absolute_time(); gps_position->counter++; gps_position->s_variance = packet->sAcc; gps_position->p_variance = packet->pAcc; @@ -457,7 +456,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) gps_position->eph = packet->hDOP; gps_position->epv = packet->vDOP; - gps_position->timestamp = hrt_absolute_time(); gps_position->counter++; _new_nav_dop = true; @@ -493,7 +491,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f); - gps_position->timestamp = hrt_absolute_time(); gps_position->counter++; _new_nav_timeutc = true; @@ -587,7 +584,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) } gps_position->satellites_visible = satellites_used++; // visible ~= used but we are interested in the used ones - gps_position->timestamp = hrt_absolute_time(); gps_position->counter++; // as this message arrives only with 1Hz and is not essential, we don't take it into account for the report @@ -617,7 +613,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) gps_position->vel_ned_valid = true; gps_position->cog = (uint16_t)((float)(packet->heading) * 1e-3f); - gps_position->timestamp = hrt_absolute_time(); gps_position->counter++; @@ -645,7 +640,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position) // if (_rx_ck_a == _rx_buffer[_rx_count - 1] && _rx_ck_b == _rx_buffer[_rx_count]) { // // gps_position->satellites_visible = packet->numVis; -// gps_position->timestamp = hrt_absolute_time(); // gps_position->counter++; // _last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time(); // ret = 1; diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index ec5149745..18da70f61 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -698,7 +698,7 @@ uorb_receive_start(void) /* --- GPS VALUE --- */ mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - orb_set_interval(mavlink_subs.gps_sub, 1000); /* 1Hz updates */ + orb_set_interval(mavlink_subs.gps_sub, 200); /* 5Hz updates */ /* --- HOME POSITION --- */ mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position)); |