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AP_GPS: disable GPS lag checking in AP_Periph

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it is much more useful to check on the flight controller, not on the
periph, or users just get mysterious failures
This commit is contained in:
Andrew Tridgell 2022-11-07 21:20:27 +11:00 committed by Randy Mackay
parent e6fccec079
commit b7d8285dfd
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_GPS/GPS_Backend.cpp
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@ -298,9 +298,12 @@ void AP_GPS_Backend::check_new_itow(uint32_t itow, uint32_t msg_length)
state.last_corrected_gps_time_us = local_us; state.last_corrected_gps_time_us = local_us;
state.corrected_timestamp_updated = true; state.corrected_timestamp_updated = true;
#ifndef HAL_BUILD_AP_PERIPH
// look for lagged data from the GPS. This is meant to detect // look for lagged data from the GPS. This is meant to detect
// the case that the GPS is trying to push more data into the // the case that the GPS is trying to push more data into the
// UART than can fit (eg. with GPS_RAW_DATA at 115200). // UART than can fit (eg. with GPS_RAW_DATA at 115200).
// This is disabled on AP_Periph as it is better to catch missed packet rate at the flight
// controller level
float expected_lag; float expected_lag;
if (gps.get_lag(state.instance, expected_lag)) { if (gps.get_lag(state.instance, expected_lag)) {
float lag_s = (now - (state.last_corrected_gps_time_us/1000U)) * 0.001; float lag_s = (now - (state.last_corrected_gps_time_us/1000U)) * 0.001;
@ -311,6 +314,8 @@ void AP_GPS_Backend::check_new_itow(uint32_t itow, uint32_t msg_length)
state.lagged_sample_count = 0; state.lagged_sample_count = 0;
} }
} }
#endif // HAL_BUILD_AP_PERIPH
if (state.status >= AP_GPS::GPS_OK_FIX_2D) { if (state.status >= AP_GPS::GPS_OK_FIX_2D) {
// we must have a decent fix to calculate difference between itow and pseudo-itow // we must have a decent fix to calculate difference between itow and pseudo-itow
_pseudo_itow_delta_ms = itow - (_pseudo_itow/1000ULL); _pseudo_itow_delta_ms = itow - (_pseudo_itow/1000ULL);