Pixhawk PX4 Support - Vehicle GPS block parameters

In the example the sample time of this block is set to 1/250, but GPS outputs data between 1 to 10hz. Is this block already outputs a fusion/filtered with the inertial sensors?? If not, why the high sample time of this block? Thanks

[Walter Roberson]

Which example?

Answer 1

[Steve Kuznicki]

Tony, This is the sample time of the block in the Simulink model. This is basically saying that the data will be sampled at 250 Hz - it has no bearing on how often new data is available from the hardware. You can easily set this to a different sample time in your model - but it won't change the output rate of the GPS module. The GPS block will just output the latest values, until they get updated by the GPS sensor publisher module.

[Qi Lu]

So is this block output fused GPS/inertial data or just raw GPS data?

[Steve Kuznicki]

The "GPS" block only outputs GPS data; Lat, Lon, Alt, etc... no inertial data.