From 041a34ecf961fa109bf4b35de2d23c9882d3a835 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 2 Aug 2019 11:44:51 +0200 Subject: [PATCH] Fix granurality of output_rate_ms to 20 ms --- src/algorithms/PVT/adapters/rtklib_pvt.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.cc b/src/algorithms/PVT/adapters/rtklib_pvt.cc index 9b97e8c5b..f17d63293 100644 --- a/src/algorithms/PVT/adapters/rtklib_pvt.cc +++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc @@ -69,10 +69,10 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration, pvt_output_parameters.dump_mat = configuration->property(role + ".dump_mat", true); // output rate - pvt_output_parameters.output_rate_ms = configuration->property(role + ".output_rate_ms", 500); + pvt_output_parameters.output_rate_ms = bc::lcm(20, configuration->property(role + ".output_rate_ms", 500)); // display rate - pvt_output_parameters.display_rate_ms = configuration->property(role + ".display_rate_ms", 500); + pvt_output_parameters.display_rate_ms = bc::lcm(pvt_output_parameters.output_rate_ms, configuration->property(role + ".display_rate_ms", 500)); // NMEA Printer settings pvt_output_parameters.flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);