AP_GPS: Fix GSOF delay in PX-1

Signed-off-by: Ryan Friedman <[email protected]>
ArduPilot · May 10, 2024 · 9f9fbe6 · 9f9fbe6
1 parent 693151e
commit 9f9fbe6
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diff --git a/libraries/AP_GPS/AP_GPS_GSOF.cpp b/libraries/AP_GPS/AP_GPS_GSOF.cpp
@@ -75,6 +75,12 @@ AP_GPS_GSOF::AP_GPS_GSOF(AP_GPS &_gps,
     gsofmsg_time = now + 110;
 }
 
+bool AP_GPS_GSOF::get_lag(float &lag_sec) const
+{
+    lag_sec = 0.0065;
+    return true;
+}
+
 // Process all bytes available from the stream
 //
 bool

diff --git a/libraries/AP_GPS/AP_GPS_GSOF.h b/libraries/AP_GPS/AP_GPS_GSOF.h
@@ -33,6 +33,9 @@ class AP_GPS_GSOF : public AP_GPS_Backend
         return AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
     }
 
+    // Get lag in seconds.
+    bool get_lag(float &lag_sec) const override;
+
     // Methods
     bool read() override WARN_IF_UNUSED;