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GPS driver: Print velocity as part of status command

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Lorenz Meier
2014-07-11 14:25:16 +02:00
parent 5400ea9815
commit ee573fea9d
1 changed files with 3 additions and 1 deletions
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src/drivers/gps/gps.cpp
+3 -1
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@@ -127,7 +127,7 @@ private:
/** /**
* Try to configure the GPS, handle outgoing communication to the GPS * Try to configure the GPS, handle outgoing communication to the GPS
*/ */
void config(); void config();
/** /**
* Trampoline to the worker task * Trampoline to the worker task
@@ -486,6 +486,8 @@ GPS::print_info()
warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type, warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
_report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp_position) / 1000.0); _report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp_position) / 1000.0);
warnx("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt); warnx("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
warnx("vel: %.2fm/s, %.2fm/s, %.2fm/s", (double)_report_gps_pos.vel_n_m_s,
(double)_report_gps_pos.vel_e_m_s, (double)_report_gps_pos.vel_d_m_s);
warnx("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv); warnx("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv);
warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate()); warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate()); warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());