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AP_NavEKF3: update to match AP_GPS interface change

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priseborough 2017-05-22 11:08:52 +10:00 committed by Francisco Ferreira
parent fa5534502a
commit 7d63286088
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -441,7 +441,9 @@ void NavEKF3_core::readGpsData()
// estimate when the GPS fix was valid, allowing for GPS processing and other delays
// ideally we should be using a timing signal from the GPS receiver to set this time
// Use the driver specified delay
gpsDataNew.time_ms = lastTimeGpsReceived_ms - (uint32_t)(_ahrs->get_gps().get_lag() * 1000.0f);
float gps_delay_sec = 0;
_ahrs->get_gps().get_lag(gps_delay_sec);
gpsDataNew.time_ms = lastTimeGpsReceived_ms - (uint32_t)(gps_delay_sec * 1000.0f);
// Correct for the average intersampling delay due to the filter updaterate
gpsDataNew.time_ms -= localFilterTimeStep_ms/2;