AP_GPS: Fix GSOF delay in PX-1

Signed-off-by: Ryan Friedman <[email protected]>
Ryanf55 · May 10, 2024 · 8f4b0eb · 8f4b0eb
1 parent 693151e
commit 8f4b0eb
Show file tree

Hide file tree

Showing 2 changed files with 12 additions and 0 deletions.
diff --git a/libraries/AP_GPS/AP_GPS_GSOF.cpp b/libraries/AP_GPS/AP_GPS_GSOF.cpp
@@ -75,6 +75,13 @@ AP_GPS_GSOF::AP_GPS_GSOF(AP_GPS &_gps,
     gsofmsg_time = now + 110;
 }
 
+bool AP_GPS_GSOF::get_lag(float &lag_sec) const
+{
+    // Per the PX-1 datasheet.
+    lag_sec = 0.065;
+    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
@@ -33,11 +33,16 @@ 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;
 
     const char *name() const override { return "GSOF"; }
 
+
+
 private:
 
     // A subset of the port identifiers in the GSOF protocol that are used for serial.