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gps: Updated timeout time for the rover with moving base 

The MB rover will wait as long as possible to compute a navigation solution, possibly lowering the navigation rate all the way to 1 Hz while doing so.
This commit is contained in:
Igor Mišić 2021-05-07 14:07:33 +02:00 committed by Beat Küng
parent b7e563bdbe
commit d9e31d67aa
1 changed files with 10 additions and 2 deletions
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12
src/drivers/gps/gps.cpp
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@ -75,7 +75,8 @@
#include <linux/spi/spidev.h>
#endif /* __PX4_LINUX */
#define TIMEOUT_5HZ 500
#define TIMEOUT_1HZ 1300 //!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
#define TIMEOUT_5HZ 500 //!< Timeout time in mS, 200 mS (5Hz) + 300 mS delta for error
#define RATE_MEASUREMENT_PERIOD 5000000
typedef enum {
@ -837,8 +838,15 @@ GPS::run()
}
int helper_ret;
unsigned receive_timeout = TIMEOUT_5HZ;
while ((helper_ret = _helper->receive(TIMEOUT_5HZ)) > 0 && !should_exit()) {
if (ubx_mode == GPSDriverUBX::UBXMode::RoverWithMovingBase) {
/* The MB rover will wait as long as possible to compute a navigation solution,
* possibly lowering the navigation rate all the way to 1 Hz while doing so. */
receive_timeout = TIMEOUT_1HZ;
}
while ((helper_ret = _helper->receive(receive_timeout)) > 0 && !should_exit()) {
if (helper_ret & 1) {
publish();