The team I am mentoring is trying to use the GPS sensor but ran into an issue where the reported heading from the sensor was taking several seconds (3 to 5 seconds) to stabilize at an accurate reported heading, after the robot stopped motion. They are using the GPS sensor as part of a drivetrain in…

[image] richk97: Is this expected behavior of the sensor that it has some built in filtering that takes several seconds to converge? No, it should respond quickly. You need to verify that the GPS is seeing the GPS field code strip (use the devices screen) and that the field strip is installe…

The GPS “signal” is always reported as “100”, and when they look at the debug camera image on the devices screen on the Brain, it always looks like it sees the code strip really well and highlighted in red always. That debug image only refreshes at a super slow rate of like 1/second, but they assum…

[image] richk97: That debug image only refreshes at a super slow rate of like 1/second, but they assume that is just because it is a debug mode, and real GPS sensor is updated much faster That’s normal, the image data is large so takes a while to transfer to the brain. When looking at the al…

[image] jpearman: When looking at the alternate GPS dashboard, the top down view, you should see position and heading updating quickly. Yes, the alternate dashboard does update quickly and looks accurate fairly quickly after the robot stops motion. It is just the data that is pulled using th…

[image] richk97: It is just the data that is pulled using the Python code, takes several seconds to stabilize to an accurate value…it slews from say 45deg to 55 deg over 3-5 seconds, then says at 55deg +/- 0.1 deg forever until a new move is made. ok, I’ll take a look and see if we can reprod…

I tested with this code, I see no issues. # ---------------------------------------------------------------------------- # # # # Module: main.py # # Author: …

V5 GPS sensor slow heading update / converging rate

VEX V5 Technical Support OFFICIAL Tech Support

jpearman February 6, 2023, 9:47pm 6

ok, I’ll take a look and see if we can reproduce that. There is no filtering as far as I remember.

Expected time delta between Timer.system() and. Rotation.timestamp()