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px4-firmware
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Minor polishing, fixed rate and last measurement indication

This commit is contained in:
Lorenz Meier 2013-02-04 18:14:55 +01:00
parent d4bd7225ba
commit cb0fd834ae
3 changed files with 4 additions and 10 deletions
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6
apps/drivers/gps/gps.cpp
View File

@ -430,7 +430,7 @@ GPS::task_main()
/* measure update rate every 5 seconds */
if (hrt_absolute_time() - last_rate_measurement > 5000000) {
_rate = last_rate_count / (float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f;
_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
last_rate_measurement = hrt_absolute_time();
last_rate_count = 0;
}
@ -523,8 +523,8 @@ GPS::print_info()
}
warnx("baudrate: %d, status: %s", _baudrate, (_config_needed) ? "NOT OK" : "OK");
if (_report.timestamp != 0) {
warnx("position lock: %dD, last update %d seconds ago", (int)_report.fix_type,
int((hrt_absolute_time() - _report.timestamp) / 1000000));
warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
((float)(hrt_absolute_time() - _report.timestamp) / 1000000.0f));
warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
warnx("update rate: %6.2f Hz", (double)_rate);
}

6
apps/drivers/gps/ubx.cpp
View File

@ -429,7 +429,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
gps_position->fix_type = packet->gpsFix;
gps_position->timestamp = hrt_absolute_time();
gps_position->counter++;
gps_position->s_variance = packet->sAcc;
gps_position->p_variance = packet->pAcc;
@ -457,7 +456,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
gps_position->eph = packet->hDOP;
gps_position->epv = packet->vDOP;
gps_position->timestamp = hrt_absolute_time();
gps_position->counter++;
_new_nav_dop = true;
@ -493,7 +491,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
gps_position->timestamp = hrt_absolute_time();
gps_position->counter++;
_new_nav_timeutc = true;
@ -587,7 +584,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
}
gps_position->satellites_visible = satellites_used++; // visible ~= used but we are interested in the used ones
gps_position->timestamp = hrt_absolute_time();
gps_position->counter++;
// as this message arrives only with 1Hz and is not essential, we don't take it into account for the report
@ -617,7 +613,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
gps_position->vel_ned_valid = true;
gps_position->cog = (uint16_t)((float)(packet->heading) * 1e-3f);
gps_position->timestamp = hrt_absolute_time();
gps_position->counter++;
@ -645,7 +640,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s* gps_position)
// if (_rx_ck_a == _rx_buffer[_rx_count - 1] && _rx_ck_b == _rx_buffer[_rx_count]) {
//
// gps_position->satellites_visible = packet->numVis;
// gps_position->timestamp = hrt_absolute_time();
// gps_position->counter++;
// _last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time();
// ret = 1;

2
apps/mavlink/orb_listener.c
View File

@ -698,7 +698,7 @@ uorb_receive_start(void)
/* --- GPS VALUE --- */
mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
orb_set_interval(mavlink_subs.gps_sub, 1000); /* 1Hz updates */
orb_set_interval(mavlink_subs.gps_sub, 200); /* 5Hz updates */
/* --- HOME POSITION --- */
mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position));