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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-13 10:23:02 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-13 10:23:02 +0100 |
| commit | 03076a72ca75917cf62d7889c6c6d0de36866b04 (patch) | |
| tree | cd47c9885bfe7e7c80bd616a612db2a5f8ae564c /apps/drivers/px4fmu/fmu.cpp | |
| parent | 154035279fbfbe14be208d5ec957089f11f6447d (diff) | |
| download | px4-firmware-03076a72ca75917cf62d7889c6c6d0de36866b04.tar.gz px4-firmware-03076a72ca75917cf62d7889c6c6d0de36866b04.tar.bz2 px4-firmware-03076a72ca75917cf62d7889c6c6d0de36866b04.zip | |
Added required additional fields: If system is ok to launch (required for LED indicator), if system is ok to override fully by RC (required for multirotors which should not support this), desired PWM output rate in Hz (again required for some multirotors).
Diffstat (limited to 'apps/drivers/px4fmu/fmu.cpp')
| -rw-r--r-- | apps/drivers/px4fmu/fmu.cpp | 10 |
1 files changed, 9 insertions, 1 deletions
diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp index 61dd418f8..d5c50fbf0 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/apps/drivers/px4fmu/fmu.cpp @@ -331,8 +331,16 @@ PX4FMU::task_main() /* handle update rate changes */ if (_current_update_rate != _update_rate) { int update_rate_in_ms = int(1000 / _update_rate); - if (update_rate_in_ms < 2) + /* reject faster than 500 Hz updates */ + if (update_rate_in_ms < 2) { update_rate_in_ms = 2; + _update_rate = 500; + } + /* reject slower than 50 Hz updates */ + if (update_rate_in_ms > 20) { + update_rate_in_ms = 20; + _update_rate = 50; + } orb_set_interval(_t_actuators, update_rate_in_ms); up_pwm_servo_set_rate(_update_rate); _current_update_rate = _update_rate; |