Synchronizing autosteer measurements with GPS update rate

Bugs-requests
1

Last 2 days i’ve been trying to squeeze some more speed out of the arduino.

Using some scope triggers to measure timings on the arduino i found that the 100ms loop actually takes a bit more time than 100ms, more about 108ms with only the ads1115 activated. While at it, i also connected a probe to the timepulse signal on the F9P board, which was set to 8hz (same as gps update rate).

1 Yellow Trace = arduino 108ms
2 Blue Trace = Gps 125ms / 8Hz
DS1Z_QuickPrint1

One moment the GPSposition, Steeringwheelangle, heading and Roll all come in at the same time. And some moments later there can be about 50ms early/late between those readings.

How much influence would these timings make for calculating the desired steeringangle ?

And would it improve if the reading and sending off steeringangle, heading and roll where triggered of the gpstimepulse, only at 8Hz but syncronized?

2

AOG does that, scans for new data every 10 ms and if a new fix has arrived it will do a frame update right away.

Could do the same thing with the arduino, once new data comes in, set a flag to trigger to do a frame update. Whether that makes a difference, probably measureable but maybe not practical, would have to try.