navigator: geofence with global pos: reduce update rate

11 years ago · e3cac1999a
1 changed files with 5 additions and 1 deletions
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@ -386,9 +386,13 @@ Navigator::task_main()
				@@ -386,9 +386,13 @@ Navigator::task_main()
 		/* global position updated */
 		if (fds[0].revents & POLLIN) {
 			global_position_update();
-			if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
+			static int gposcounter = 0;
+			if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS &&
+					gposcounter % 10 == 0) {
+				/* Geofence is checked only every 10th gpos update */
 				have_geofence_position_data = true;
 			}
+			gposcounter++;
 		}

 		/* Check geofence violation */