Hi Andrew

You need to change more than alfred-gpsd. The core alfred server does updates every 10 seconds. You need to change ALFRED_INTERVAL so that it will propagate GPS data faster. If you want 200ms, i doubt such a change would be accepted back to the core code. So you probably need to add a command line option to allow setting this interval.

Yes, I see the option and will have go at changing it for testing.

alfred-gpsd will also need some changes. It currently updated the information in alfred every 2 seconds. You will need to modify this as well.

Ah, I did not know about this one, thank you very much for the pointer, will also update this.

When i wrote the alfred-gpsd code, i was not particularly interested in fast updates. So you might need to change the architecture a little. In particular, i knew gpsd was giving fixes much faster than alfred would distribute them, so i didn't tell alfred about every change. You might need this.

This is not a problem, I can look into this. I am worried about the 5Hz update rate, would the alfred/batman network layer be able to handle the data. I was thinking of writing an app at a higher level on the drone to broadcast the data to each other, but since alfred conceptually already does what I want (except at a lower rate), my plan was to first try it.

Thanks again for your help, much appreciated.

Regards Keith