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Increase allowed rtk injections to 8 for moving base. Update GPS submodule.

This commit is contained in:
alexklimaj 2022-11-16 12:49:50 -07:00 committed by Daniel Agar
parent 8b61b22da6
commit 64768f1cda
2 changed files with 5 additions and 4 deletions
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2
src/drivers/gps/devices

@ -1 +1 @@
Subproject commit fa2177d690207e42e0d8c92e9663578340d44fe4
Subproject commit b49a6c257371abae6e26e0a3e0fc04b963b2f13d

7
src/drivers/gps/gps.cpp
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@ -535,11 +535,12 @@ void GPS::handleInjectDataTopic()
bool updated = false;
// Limit maximum number of GPS injections to 6 since usually
// Limit maximum number of GPS injections to 8 since usually
// GPS injections should consist of 1-4 packets (GPS, Glonass, BeiDou, Galileo).
// Looking at 6 packets thus guarantees, that at least a full injection
// Looking at 8 packets thus guarantees, that at least a full injection
// data set is evaluated.
const size_t max_num_injections = 6;
// Moving Base reuires a higher rate, so we allow up to 8 packets.
const size_t max_num_injections = gps_inject_data_s::ORB_QUEUE_LENGTH;
size_t num_injections = 0;
do {