@olliw42 wrote:
I've seen that UAVCAN GPSes have no way to tell their lag, and that the default 0.2s as specified in the backend is used.
On the other hand, for the ublox devices it is set to either 0.22s or 0.12s. From the latter I would conclude that the devs concluded that this difference of several 0.01s matters, and so much so that it was worthwhile to implement get_lag(). This in turn would imply that it should also matter for a uavcan gps, as it may use whatever gps.
So, there is an inconsistency. Either such differences matter, but then IMHO there should be a way for uavcan gpses to announce their lag so that get_lag() can report anything useful, or they don't matter.
Matters or not?
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