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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 Randy Mackay
parent e3c29a3e88
commit 958b7866c9
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_GPS/AP_GPS.cpp
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@ -1112,6 +1112,9 @@ void AP_GPS::Write_DataFlash_Log_Startup_messages()
*/ */
bool AP_GPS::get_lag(uint8_t instance, float &lag_sec) const 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 // return lag of blended GPS
if (instance == GPS_BLENDED_INSTANCE) { if (instance == GPS_BLENDED_INSTANCE) {
lag_sec = _blended_lag_sec; 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) { if (_type[instance] == GPS_TYPE_NONE) {
lag_sec = 0.0f; lag_sec = 0.0f;
return true; return true;
} else {
lag_sec = GPS_WORST_LAG_SEC;
} }
return _type[instance] == GPS_TYPE_AUTO; return _type[instance] == GPS_TYPE_AUTO;
} else { } else {