OSAM Updates ---Set our GPS downlink rate

sw/airborne/gps.c

@@ -46,6 +46,10 @@
 uint16_t last_gps_msg_t;	/** cputime of the last gps message */
 bool_t gps_verbose_downlink;
 
+#ifdef UGEAR
+volatile uint16_t gps_msg_received_counter;
+#endif
+
 void gps_downlink( void ) {
   static uint8_t _4Hz;
   _4Hz++; if (_4Hz > 3) _4Hz = 0;

sw/airborne/gps.h

@@ -74,6 +74,10 @@ extern volatile uint8_t gps_msg_received;
 extern bool_t gps_pos_available;
 extern uint8_t gps_nb_ovrn;
 
+#ifdef UGEAR
+extern volatile uint16_t gps_msg_received_counter;
+#endif
+
 /** Number of scanned satellites */
 extern uint8_t gps_nb_channels;
 
@@ -120,6 +124,15 @@ extern struct svinfo gps_svinfos[GPS_NB_CHANNELS];
     gps_downlink();				\
   }
 
+#ifdef UGEAR
+#define UseGpsPosUgear(_callback) {		\
+    if (GpsFixValid()) {			\
+      last_gps_msg_t = cpu_time_sec;		\
+      _callback();				\
+      GpsToggleLed();				\
+    }						\
+  }
+#endif
 
 #ifdef GPS_CONFIGURE
 #define GpsParseOrConfigure() {			\

sw/airborne/main_ap.c

@@ -738,9 +738,15 @@ void event_task_ap( void ) {
 		parse_ugear_msg();
 		ugear_msg_received = FALSE;
 		if (gps_pos_available){
-			gps_downlink();
+			//gps_downlink();
 			gps_verbose_downlink = !launch;
-			UseGpsPos(estimator_update_state_gps);
+//			UseGpsPos(estimator_update_state_gps);
+			UseGpsPosUgear(estimator_update_state_gps);
+			gps_msg_received_counter = gps_msg_received_counter+1;
+			if (gps_msg_received_counter == 25){
+				gps_downlink();
+				gps_msg_received_counter = 0;
+			}
 			gps_pos_available = FALSE;
 		}
 	}