diff --git a/common/Varmint.cpp b/common/Varmint.cpp
index 14d8e5d..0ff8db5 100644
--- a/common/Varmint.cpp
+++ b/common/Varmint.cpp
@@ -161,8 +161,6 @@ bool Varmint::imu_read(rosflight_firmware::ImuStruct * imu)
}
return false;
}
-void Varmint::imu_not_responding_error(){};
-// Do nothing for now
///////////////////////////////////////////////////////////////////////////////////////////////
// MAG
@@ -261,12 +259,12 @@ bool Varmint::gnss_read(rosflight_firmware::GnssStruct * gnss)
gnss->time = mktime(&tm);
gnss->t_acc = p.pvt.tAcc;
gnss->time_of_week = p.pvt.iTOW;
+ gnss->year = p.pvt.year;
gnss->month = p.pvt.month;
gnss->day = p.pvt.day;
gnss->hour = p.pvt.hour;
gnss->min = p.pvt.min;
gnss->sec = p.pvt.sec;
- gnss->sec = p.pvt.sec;
gnss->nano = p.pvt.nano;
gnss->lon = p.pvt.lon;
gnss->lat = p.pvt.lat;
diff --git a/common/Varmint.h b/common/Varmint.h
index 674fbc7..e1080bd 100644
--- a/common/Varmint.h
+++ b/common/Varmint.h
@@ -116,8 +116,6 @@ class Varmint : public rosflight_firmware::Board
bool imu_read(rosflight_firmware::ImuStruct * imu) override;
- void imu_not_responding_error() override;
-
bool mag_read(rosflight_firmware::MagStruct * mag) override;
bool baro_read(rosflight_firmware::PressureStruct * baro) override;
@@ -128,7 +126,6 @@ class Varmint : public rosflight_firmware::Board
// Battery
bool battery_read(rosflight_firmware::BatteryStruct * bat) override;
- //bool battery_present() override;
void battery_voltage_set_multiplier(double multiplier) override;
void battery_current_set_multiplier(double multiplier) override;
diff --git a/common/drivers/Ubx.cpp b/common/drivers/Ubx.cpp
index 5cd7e39..ac2f1ed 100644
--- a/common/drivers/Ubx.cpp
+++ b/common/drivers/Ubx.cpp
@@ -250,7 +250,7 @@ void Ubx::endDma(void)
ubx_.timestamp = time64.Us(); // usTime();
ubx_.drdy = drdy_;
- if (!hasPps_) ubx_.pps = ubx_.drdy - 25000; // fake number if we don't have PPS hooked up
+ if (!hasPps_) ubx_.pps = 0; //ubx_.drdy - 25000; // fake number if we don't have PPS hooked up
if (ubx_.pps > ubx_.drdy) ubx_.pps -= 1000000 / sampleRateHz_;
ubx_.groupDelay = ubx_.drdy - ubx_.pps;
@@ -338,10 +338,6 @@ bool Ubx::parseByte(uint8_t c, UbxFrame * p)
void Ubx::pps(uint64_t pps_timestamp)
{
- // gotPvt_ = false;
- // gotTime_ = false;
- // gotEcefP_ = false;
- // gotEcefV_ = false;
ubx_.pps = pps_timestamp;
}
diff --git a/varmint_10X/.cproject b/varmint_10X/.cproject
index 05a3ff5..fd4661a 100644
--- a/varmint_10X/.cproject
+++ b/varmint_10X/.cproject
@@ -124,36 +124,6 @@
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