AP_GPS: constrain rate_ms from 5Hz to 20Hz

6 years ago · 685771c145
1 changed files with 2 additions and 1 deletions
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@ -264,7 +264,8 @@ void AP_GPS_Backend::check_new_itow(uint32_t itow, uint32_t msg_length)
				@@ -264,7 +264,8 @@ void AP_GPS_Backend::check_new_itow(uint32_t itow, uint32_t msg_length)
            _last_rate_ms = dt_ms;
        }
        if (_rate_ms == 0) {
-            _rate_ms = gps.get_rate_ms(state.instance);
+            // only allow 5Hz to 20Hz in user config
+            _rate_ms = constrain_int16(gps.get_rate_ms(state.instance), 50, 200);
        }

        // round to calculated message rate