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GPS: expose last_fix_time

This commit is contained in:
Andrew Tridgell 2012-03-07 15:15:13 +11:00
parent 17daa2f31c
commit e9f35bfa7f
2 changed files with 5 additions and 5 deletions
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4
libraries/AP_GPS/GPS.cpp
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@ -36,9 +36,9 @@ GPS::update(void)
if (_status == GPS_OK) { if (_status == GPS_OK) {
// update our acceleration // update our acceleration
float deltat = 1.0e-3 * (_idleTimer - _last_fix_time); float deltat = 1.0e-3 * (_idleTimer - last_fix_time);
float deltav = 1.0e-2 * ((float)ground_speed - (float)_last_ground_speed); float deltav = 1.0e-2 * ((float)ground_speed - (float)_last_ground_speed);
_last_fix_time = _idleTimer; last_fix_time = _idleTimer;
_last_ground_speed = ground_speed; _last_ground_speed = ground_speed;
if (deltat > 2.0 || deltat == 0) { if (deltat > 2.0 || deltat == 0) {

6
libraries/AP_GPS/GPS.h
View File

@ -113,6 +113,9 @@ public:
// our approximate linear acceleration in m/s/s // our approximate linear acceleration in m/s/s
float acceleration(void) { return _acceleration; } float acceleration(void) { return _acceleration; }
// the time we got our last fix in system milliseconds
uint32_t last_fix_time;
protected: protected:
Stream *_port; ///< port the GPS is attached to Stream *_port; ///< port the GPS is attached to
@ -173,9 +176,6 @@ private:
/// Our current status /// Our current status
GPS_Status _status; GPS_Status _status;
// the time we got our last fix in system milliseconds
uint32_t _last_fix_time;
// previous ground speed in cm/s // previous ground speed in cm/s
uint32_t _last_ground_speed; uint32_t _last_ground_speed;