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| author | px4dev <px4@purgatory.org> | 2013-03-17 15:54:19 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-03-17 15:54:19 -0700 |
| commit | 60eca61e41bbae8fdcb6f92ecdc130a49e49fd29 (patch) | |
| tree | 124c29473f91d7e86521144eafe3be62a2c3fc85 /apps | |
| parent | a9d68b90101ae0fdd4a162199d0d993a7010597e (diff) | |
| download | px4-firmware-60eca61e41bbae8fdcb6f92ecdc130a49e49fd29.tar.gz px4-firmware-60eca61e41bbae8fdcb6f92ecdc130a49e49fd29.tar.bz2 px4-firmware-60eca61e41bbae8fdcb6f92ecdc130a49e49fd29.zip | |
HOTFIX: Adjust the FMU update rate adaption logic to avoid constant debug message spew when not in a PWM mode.
Fixes #229
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/drivers/px4fmu/fmu.cpp | 11 |
1 files changed, 6 insertions, 5 deletions
diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp index 476adb7f0..e54724536 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/apps/drivers/px4fmu/fmu.cpp @@ -427,16 +427,17 @@ PX4FMU::task_main() /* reject faster than 500 Hz updates */ if (update_rate_in_ms < 2) { update_rate_in_ms = 2; - _current_update_rate = 500; } - /* reject slower than 50 Hz updates */ - if (update_rate_in_ms > 20) { - update_rate_in_ms = 20; - _current_update_rate = 50; + /* reject slower than 10 Hz updates */ + if (update_rate_in_ms > 100) { + update_rate_in_ms = 100; } debug("adjusted actuator update interval to %ums", update_rate_in_ms); orb_set_interval(_t_actuators, update_rate_in_ms); + + // set to current max rate, even if we are actually checking slower/faster + _current_update_rate = max_rate; } /* sleep waiting for data, stopping to check for PPM |