Rate limit corrected UART telemetry

2026-07-23 23:55:33 +03:00
parent 9ff895600b
commit bdce4a3046
7 changed files with 66 additions and 18 deletions
@@ -44,6 +44,9 @@ endif
 IMU_ACCEL_FS_G ?= 0
 IMU_GYRO_FS_DPS ?= 0
 GPS_ESKF_ENABLE ?= 1
+# UART telemetry cadence only; ESKF prediction still runs for every IMU sample.
+# At the default 50 Hz ODR, 5 samples produce one corrected record every 100 ms.
+IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES ?= 5

 APP_SRCS := \
 	gps_system.c \
@@ -81,6 +84,7 @@ CFLAGS += $(IMU_BACKEND_CFLAG) \
 	-DIMU_ACCEL_FS_G=$(IMU_ACCEL_FS_G) \
 	-DIMU_GYRO_FS_DPS=$(IMU_GYRO_FS_DPS) \
 	-DGPS_ESKF_ENABLE=$(GPS_ESKF_ENABLE) \
+	-DIMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES=$(IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES) \
 	-DGPS_NAV_SOLVE_TIMER_TICKS=$(GPS_NAV_SOLVE_TIMER_TICKS)
 LDLIBS += -lm