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