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AP_GPS: allow GPS moving baseline rover at 3Hz

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users with busy CAN bus often get significiantly lower GPS rates on a
moving baseline rover, preventing arming. This PR relaxes the required
frame rate as the EKF is quite happy with 3Hz yaw and the yaw is the
only data consumed from a moving baseline rover
This commit is contained in:
Andrew Tridgell 2023-09-19 16:08:59 +10:00
parent cf6fe59a7a
commit dadffef92c
1 changed files with 6 additions and 4 deletions
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10
libraries/AP_GPS/AP_GPS.cpp
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@ -2065,12 +2065,14 @@ bool AP_GPS::is_healthy(uint8_t instance) const
#else #else
/* /*
allow two lost frames before declaring the GPS unhealthy, but allow two lost frames before declaring the GPS unhealthy, but
require the average frame rate to be close to 5Hz. We allow for require the average frame rate to be close to 5Hz.
a bit higher average for a rover due to the packet loss that
happens with the RTCMv3 data We allow for a rate of 3Hz average for a moving baseline rover
due to the packet loss that happens with the RTCMv3 data and the
fact that the rate of yaw data is not critical
*/ */
const uint8_t delay_threshold = 2; const uint8_t delay_threshold = 2;
const float delay_avg_max = ((_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) || (_type[instance] == GPS_TYPE_UAVCAN_RTK_ROVER))?245:215; const float delay_avg_max = ((_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) || (_type[instance] == GPS_TYPE_UAVCAN_RTK_ROVER))?333:215;
const GPS_timing &t = timing[instance]; const GPS_timing &t = timing[instance];
bool delay_ok = (t.delayed_count < delay_threshold) && bool delay_ok = (t.delayed_count < delay_threshold) &&
t.average_delta_ms < delay_avg_max && t.average_delta_ms < delay_avg_max &&