From 9f9fbe65d322db1489a76e80bafb932539f62481 Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Fri, 10 May 2024 15:55:40 -0600 Subject: [PATCH] AP_GPS: Fix GSOF delay in PX-1 Signed-off-by: Ryan Friedman --- libraries/AP_GPS/AP_GPS_GSOF.cpp | 6 ++++++ libraries/AP_GPS/AP_GPS_GSOF.h | 3 +++ 2 files changed, 9 insertions(+) diff --git a/libraries/AP_GPS/AP_GPS_GSOF.cpp b/libraries/AP_GPS/AP_GPS_GSOF.cpp index 4fbfef5833a2d..601395a1f1d35 100644 --- 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 index c1bf4a3fbd6d7..c2c0b6e8b5231 100644 --- 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;