[Parafoil] Updated GPS config in SensorsConfig.h

src/boards/Parafoil/Configs/SensorsConfig.h

@@ -75,8 +75,10 @@ constexpr Boardcore::LPS22DF::ODR LPS22DF_ODR = Boardcore::LPS22DF::ODR_100;
 constexpr uint32_t LPS22DF_PERIOD             = 20;  // [ms] 50Hz
 
 // UBXGPS
-constexpr uint8_t UBXGPS_SAMPLE_RATE = 10;
-constexpr uint32_t UBXGPS_PERIOD     = 1000 / UBXGPS_SAMPLE_RATE;  // [ms]
+constexpr uint8_t UBXGPS_SAMPLE_RATE = 5;
+// The +5 is needed because GPS data must be read faster than it is produced (to
+// not cause delays)
+constexpr uint32_t UBXGPS_PERIOD = 1000 / (UBXGPS_SAMPLE_RATE + 5);  // [ms]
 
 // ADS
 constexpr Boardcore::ADS131M08Defs::OversamplingRatio
@@ -84,7 +86,6 @@ constexpr Boardcore::ADS131M08Defs::OversamplingRatio
         Boardcore::ADS131M08Defs::OversamplingRatio::OSR_8192;
 constexpr bool ADS131M08_GLOBAL_CHOP_MODE = true;
 constexpr uint32_t ADS131M08_PERIOD       = 10;  // [ms] 100Hz
-//
 
 // UNUSED - How many bytes go into the fifo each second
 constexpr unsigned int BMX160_FIFO_FILL_RATE =

src/boards/Parafoil/Sensors/Sensors.cpp

@@ -347,7 +347,7 @@ void Sensors::ubxGpsInit()
 
     // Create sensor instance with configured parameters
     ubxGps = new UBXGPSSpi(modules.get<Buses>()->spi1,
-                           miosix::sensors::ubxgps::cs::getPin(), config, 5);
+                           miosix::sensors::ubxgps::cs::getPin(), config, UBXGPS_SAMPLE_RATE);
 
     // Emplace the sensor inside the map
     SensorInfo info("UBXGPS", UBXGPS_PERIOD,