Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: Ensure a lag value is always provided 

The value may not be the optimal value for the driver, but we should
always try to provide a value for the caller
This commit is contained in:
Michael du Breuil 2018-06-28 15:36:35 -07:00 committed by Andrew Tridgell
parent 21dfe02c6e
commit 1a406dacfc
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_GPS/AP_GPS.cpp
View File

@ -1112,6 +1112,9 @@ void AP_GPS::Write_DataFlash_Log_Startup_messages()
*/
bool AP_GPS::get_lag(uint8_t instance, float &lag_sec) const
{
// always enusre a lag is provided
lag_sec = GPS_WORST_LAG_SEC;
// return lag of blended GPS
if (instance == GPS_BLENDED_INSTANCE) {
lag_sec = _blended_lag_sec;
@ -1129,8 +1132,6 @@ bool AP_GPS::get_lag(uint8_t instance, float &lag_sec) const
if (_type[instance] == GPS_TYPE_NONE) {
lag_sec = 0.0f;
return true;
} else {
lag_sec = GPS_WORST_LAG_SEC;
}
return _type[instance] == GPS_TYPE_AUTO;
} else {