Hi everybody,
I am running a modified version of GPS.py from the Emlid’s Github example repository and I want to store data from GPS and IMU at 5 Hz.
While I am receiving data from the Navio2 GPS, if I store and substract 2 consecutive iTow fields, the elapsed time is not constant. Moreover, it is generally 400 ms, in spite that in the code I set the GPS solution rate to 200 ms.
Yesterday I found out that lowering the SPI baud rate from 5000000 to 200000 improves the situation (at 5000000 I got GPS readings at about 1Hz and sometimes even lower).
The Python code is available in Python example for Navio2 GPS and IMU · GitHub
and the modified ublox.py file in order to support PVT messages can be found in the following fork GitHub - gmsanchez/Navio2: C++ and Python sensor examples for developers
Thanks in advance!