Changing the GPS refresh rate in Ardusub

Blue Robotics Software
1

I’m using a Subonus USBL system to send the BR2’s position to TCP Port 27001, server address 192.168.2.2 so I can see the position in QGC and use it in the overlay when I record video.
(I’m not using it for autonomous flight modes).

If the transponder doesn’t update in about 5 seconds, the position in Ardusub reverts to 0.000000 degrees lat and long until a refreshed position is received. Is there a setting in Ardusub where I can alter the time to something like 60 seconds?

2

I haven’t dug into it, but I believe this is controlled by the healthy flag in the gps driver. Unfortunately none of the logic here is controlled by adjustable parameters.

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