The number is a loop divider, not the frequency. The main loop time is set elsewhere to 250ms. So 1 means 4Hz. And 8 means every 2 seconds as the fixed wings use position not from ECEF in NAVSol but from LLH and only use nav Sol for the accuracy.
On Jul 28, 2013 7:56 PM, "QawsQAER" <
address@hidden> wrote:
Dear Developers:
I notice that in sw/airborne/modules/gps/gps_ubx_ucenter.c,
it configure message to be sent from the GPS module
391 #if defined FIRMWARE && FIRMWARE == ROTORCRAFT
392 gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SOL_ID, 1);
393 #else
394 gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SOL_ID, 8);
395 #endif
What's the reason for rotorcraft to have a lower NAV-SOL message frequency ?
As the measurement frequency is 4hz, can i change
gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SOL_ID, 1);
into
gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SOL_ID, 4);
?
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