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AP_GPS: added get_lag method to return expected lag from the GPS.

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This commit is contained in:
rmackay9 2012-09-20 15:48:22 +09:00
parent 30aa104000
commit 50a97f3092
2 changed files with 4 additions and 0 deletions
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2
libraries/AP_GPS/AP_GPS_UBLOX.h
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@ -35,6 +35,8 @@ public:
static const prog_char _ublox_set_binary[]; static const prog_char _ublox_set_binary[];
static const uint8_t _ublox_set_binary_size; static const uint8_t _ublox_set_binary_size;
float get_lag() { return 0.5; } // ublox lag is lower than the default 1second
private: private:
// u-blox UBX protocol essentials // u-blox UBX protocol essentials
// XXX this is being ignored by the compiler #pragma pack(1) // XXX this is being ignored by the compiler #pragma pack(1)

2
libraries/AP_GPS/GPS.h
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@ -135,6 +135,8 @@ public:
return _last_ground_speed_cm * 0.01; return _last_ground_speed_cm * 0.01;
} }
// the expected lag (in seconds) in the position and velocity readings from the gps
virtual float get_lag() { return 1.0; }
// the time we got our last fix in system milliseconds // the time we got our last fix in system milliseconds
uint32_t last_fix_time; uint32_t last_fix_time;