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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-21 14:42:57 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-21 14:42:57 +0200 |
| commit | 8a11f76994f74e4b38e861d559b305c707d78190 (patch) | |
| tree | 69c9f0c05e9b28be2d108c51f8f6604fd505c1b5 /apps/sdlog | |
| parent | eaa431e5ceaaab033510a522ffaf7a72e44e7ae6 (diff) | |
| download | px4-firmware-8a11f76994f74e4b38e861d559b305c707d78190.tar.gz px4-firmware-8a11f76994f74e4b38e861d559b305c707d78190.tar.bz2 px4-firmware-8a11f76994f74e4b38e861d559b305c707d78190.zip | |
Updated C files for attitude estimator
Diffstat (limited to 'apps/sdlog')
| -rw-r--r-- | apps/sdlog/sdlog.c | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c index b99c6652c..f1c1f9a23 100644 --- a/apps/sdlog/sdlog.c +++ b/apps/sdlog/sdlog.c @@ -289,6 +289,8 @@ int sdlog_thread_main(int argc, char *argv[]) { /* subscribe to ORB for sensors raw */ subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); fds[fdsc_count].fd = subs.sensor_sub; + /* rate-limit raw data updates to 200Hz */ + orb_set_interval(subs.sensor_sub, 5); fds[fdsc_count].events = POLLIN; fdsc_count++; @@ -459,7 +461,7 @@ int sdlog_thread_main(int argc, char *argv[]) { sysvector_bytes += write(sysvector_file, (const char*)&sysvector, sizeof(sysvector)); - usleep(4900); + usleep(10000); } unsigned bytes = sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes; |