diff options
Diffstat (limited to 'src/drivers/gps/gps_helper.cpp')
| -rw-r--r-- | src/drivers/gps/gps_helper.cpp | 27 |
1 files changed, 25 insertions, 2 deletions
diff --git a/src/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp index 9c1fad569..54ac90dab 100644 --- a/src/drivers/gps/gps_helper.cpp +++ b/src/drivers/gps/gps_helper.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. * Author: Thomas Gubler <thomasgubler@student.ethz.ch> * Julian Oes <joes@student.ethz.ch> * @@ -36,9 +36,32 @@ #include <termios.h> #include <errno.h> #include <systemlib/err.h> +#include <drivers/drv_hrt.h> #include "gps_helper.h" -/* @file gps_helper.cpp */ +/** + * @file gps_helper.cpp + */ + +float +GPS_Helper::get_position_update_rate() +{ + return _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); +} + +float +GPS_Helper::get_velocity_update_rate() +{ + return _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); +} + +float +GPS_Helper::reset_update_rates() +{ + _rate_count_vel = 0; + _rate_count_lat_lon = 0; + _interval_rate_start = hrt_absolute_time(); +} int GPS_Helper::set_baudrate(const int &fd, unsigned baud) |