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AP_GPS: allow GPS moving baseline rover at 3Hz 

users with busy CAN bus often get significiantly lower GPS rates on a
moving baseline rover, preventing arming. This PR relaxes the required
frame rate as the EKF is quite happy with 3Hz yaw and the yaw is the
only data consumed from a moving baseline rover
This commit is contained in:
Andrew Tridgell 2023-09-19 16:08:59 +10:00 committed by Randy Mackay
parent 6fa5d0bec0
commit 39f83c91b3
1 changed files with 6 additions and 4 deletions
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10
libraries/AP_GPS/AP_GPS.cpp
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@ -2065,12 +2065,14 @@ bool AP_GPS::is_healthy(uint8_t instance) const
#else
/*
allow two lost frames before declaring the GPS unhealthy, but
require the average frame rate to be close to 5Hz. We allow for
a bit higher average for a rover due to the packet loss that
happens with the RTCMv3 data
require the average frame rate to be close to 5Hz.
We allow for a rate of 3Hz average for a moving baseline rover
due to the packet loss that happens with the RTCMv3 data and the
fact that the rate of yaw data is not critical
*/
const uint8_t delay_threshold = 2;
const float delay_avg_max = ((_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) || (_type[instance] == GPS_TYPE_UAVCAN_RTK_ROVER))?245:215;
const float delay_avg_max = ((_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) || (_type[instance] == GPS_TYPE_UAVCAN_RTK_ROVER))?333:215;
const GPS_timing &t = timing[instance];
bool delay_ok = (t.delayed_count < delay_threshold) &&
t.average_delta_ms < delay_avg_max &&