void
GPS::print_info()
{
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
warnx("protocol: UBX");
break;
case GPS_DRIVER_MODE_MTK:
warnx("protocol: MTK");
break;
default:
break;
}
warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
warnx("sat info: %s", (_p_report_sat_info != nullptr) ? "enabled" : "disabled");
if (_report_gps_pos.timestamp_position != 0) {
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);
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("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 publication:\t%6.2f Hz", (double)_rate);
}
usleep(100000);
}
void
GPS::print_info()
{
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
warnx("protocol: UBX");
break;
case GPS_DRIVER_MODE_MTK:
warnx("protocol: MTK");
break;
default:
break;
}
warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
if (_report.timestamp_position != 0) {
warnx("position lock: %dD, satellites: %d, last update: %fms ago", (int)_report.fix_type,
_report.satellites_visible, (hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
warnx("eph: %.2fm, epv: %.2fm", _report.eph_m, _report.epv_m);
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 publication:\t%6.2f Hz", (double)_rate);
}
usleep(100000);
}