Keep fused location streaming through GPS rejects

2026-07-23 23:20:23 +03:00
parent fc242b2883
commit 9ff895600b
14 changed files with 173 additions and 46 deletions
@@ -43,7 +43,9 @@
 		#define GPS_ACQ_IP_BASE_ADDR(index) (BSP_GPS_ACQ_BASE + ((uintptr_t)(index) * BSP_GPS_ACQ_STRIDE))
 		#define GPS_ACQ_INTR_LINE(index)    (BSP_GPS_ACQ_IRQ + ((unsigned int)(index) * BSP_GPS_ACQ_IRQ_STRIDE))
 			#define GPS_EVENT_QUEUE_SIZE        64u
-			#define GPS_SYSTICK_HZ              20u
+			/* Genesys2 CLINT is 500 kHz.  Keep foreground maintenance at
+			 * 10 Hz; the tracking IP's 20 ms NAV timer is independent. */
+			#define GPS_SYSTICK_HZ              10u
 			#define GPS_NAV_SOLVE_TIMER_TICK_MS 20u
 			#ifndef GPS_NAV_SOLVE_TIMER_TICKS
 			#define GPS_NAV_SOLVE_TIMER_TICKS   50u