diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-13 11:12:34 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-13 11:12:34 +0100 |
| commit | 1fc0a6546e30cfc913de8c0c03cfc625fba5d2ae (patch) | |
| tree | 65cf4f9b03e9dc63ffdf05ff698272f326d76908 /apps/drivers/px4fmu | |
| parent | 26faab64e5e1679d15afe88ef0edebd598f47dc7 (diff) | |
| parent | 03076a72ca75917cf62d7889c6c6d0de36866b04 (diff) | |
| download | px4-firmware-1fc0a6546e30cfc913de8c0c03cfc625fba5d2ae.tar.gz px4-firmware-1fc0a6546e30cfc913de8c0c03cfc625fba5d2ae.tar.bz2 px4-firmware-1fc0a6546e30cfc913de8c0c03cfc625fba5d2ae.zip | |
Merged IO feature branch
Diffstat (limited to 'apps/drivers/px4fmu')
| -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 ff610b0b9..dac0b5e84 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/apps/drivers/px4fmu/fmu.cpp @@ -341,8 +341,16 @@ 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; |