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AP_GPS: allow for larger average delta on MB rover than normal

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This commit is contained in:
Andrew Tridgell 2020-04-17 12:34:29 +10:00
parent 36098c3221
commit f3a5d915f3
1 changed files with 5 additions and 3 deletions
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8
libraries/AP_GPS/AP_GPS.cpp
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@ -781,7 +781,7 @@ void AP_GPS::update_instance(uint8_t instance)
if (t.average_delta_ms <= 0) { if (t.average_delta_ms <= 0) {
t.average_delta_ms = t.delta_time_ms; t.average_delta_ms = t.delta_time_ms;
} else { } else {
t.average_delta_ms = 0.98 * t.average_delta_ms + 0.02 * t.delta_time_ms; t.average_delta_ms = 0.98f * t.average_delta_ms + 0.02f * t.delta_time_ms;
} }
} }
} }
@ -1707,10 +1707,12 @@ bool AP_GPS::is_healthy(uint8_t instance) const
/* /*
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 require the average frame rate to be close to 5Hz. We allow for
a bit higher average for a rover due to the packet loss that
happens with the RTCMv3 data
*/ */
const uint8_t delay_threshold = 2; const uint8_t delay_threshold = 2;
const float delay_avg_max = 245; const float delay_avg_max = _type[instance] == GPS_TYPE_UBLOX_RTK_ROVER?245:215;
const GPS_timing &t = timing[instance]; const GPS_timing &t = timing[instance];
bool delay_ok = (t.delayed_count < delay_threshold) && t.average_delta_ms < delay_avg_max; bool delay_ok = (t.delayed_count < delay_threshold) && t.average_delta_ms < delay_avg_max;