GPS - logging

Hey all,

I am using the stock EKF2 filter, using it on a Pixhawk 2 with the Here+ GNSS

2 Questions.

  1. I was comparing GPS vs GPOS topics, and i noticed that the GPS log rate was once every 5s or more. Is the logging system wrong (sdlog2 - set sdlog2 as I already has a custom topic publishing to it)? I am wanting to use raw GPS data for an experiment but if the topic actually publishes at 1 per 5s rates, then that is a problem. The image is showing this.

  2. Is there a delay between raw GPS data and the GPOS topic? I could use GPOS data, but only if the GPOS filter doesn’t cause a lag between GPS and GPOS.

Jean-Luc Stevens