From 09cd7558c3ada5bdc96261b863fd4f905d8225c0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 3 Jan 2022 15:30:34 +1100
Subject: [PATCH] AP_GPS: drop default GPS lag to 0.1s

this impacts UAVCAN GPS modules, which these days usually have at
least u-blox M8
---
 libraries/AP_GPS/AP_GPS.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 431af2e12c..8cfb06cae5 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -1469,7 +1469,7 @@ void AP_GPS::Write_AP_Logger_Log_Startup_messages()
 bool AP_GPS::get_lag(uint8_t instance, float &lag_sec) const
 {
     // always enusre a lag is provided
-    lag_sec = 0.22f;
+    lag_sec = 0.1f;
 
     if (instance >= GPS_MAX_INSTANCES) {
         return false;