NMEA/Unicore fixes #173
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NMEA/Unicore fixes #173
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This changes the publication logic to only publish when a new position update has arrived. This avoids the issue where we publish heading updates without position updates which leads to: - Heading toggling between a valid value and NAN (or 0 in MAVLink) which is confusing. - sensor_gps updates to be too frequent and therefore ignored in the estimator.
In my testing my UM982 only sent position updates at 2 Hz, velocity at 4 Hz, eph/epv were not available at all. I therefore suggest to request these messages at 5 Hz when we detect Unicore.
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So far only bench tested, flight testing will follow.
@dronesalot any chance you could check this on your side as well?