Position message frequency not set

[richibrics]

Hi, I'm experiencing a problem with an Ellipse-D: its position is always published at 4Hz both on "/imu/nav_sat_fix" and "sbg/gps_pos".
I want it to publish at 100Hz so I set log_gps1_pos = 2 in the configurations.
The node is set to work at 400Hz and confWithRos is True.

Any suggestion ? Thanks

edit: may this issue be related to #27 ?

[rsiryani]

Hello,
You are looking at the GNSS only logs (PVT Position Velocity Time) from the GNSS itself.
The internal ELLIPSE-D GNSS is producing data at 5 Hz so you should get 5 Hz data.

If you are looking for 100 Hz for instance, you have to use the position computed by the INS (ie GNSS data fused with accelerations & rotation rates). In this case, configure your device correctly and use /sbg/ekf_nav or /imu/pos_ecef.

Hope it answers your question.

Regards,