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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-09 22:53:25 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-09 22:53:25 +0200 |
| commit | b8ccf67e8cb04e52f82a3098fac623a0df059188 (patch) | |
| tree | 42cc59a8a9296f560cdec7b386b9226636c2b29b /src/drivers/px4io | |
| parent | d63ad0fb817d76d2d818db47805b46742d2aae68 (diff) | |
| parent | ed00567400bd6ce24e25dc1038ce40f959205a68 (diff) | |
| download | px4-firmware-b8ccf67e8cb04e52f82a3098fac623a0df059188.tar.gz px4-firmware-b8ccf67e8cb04e52f82a3098fac623a0df059188.tar.bz2 px4-firmware-b8ccf67e8cb04e52f82a3098fac623a0df059188.zip | |
Merge branch 'sdtest' of github.com:PX4/Firmware into hil_usb_only
Diffstat (limited to 'src/drivers/px4io')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 12 |
1 files changed, 7 insertions, 5 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 38e183608..969dbefea 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -95,6 +95,8 @@ extern device::Device *PX4IO_serial_interface() weak_function; #define PX4IO_SET_DEBUG _IOC(0xff00, 0) #define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1) +#define UPDATE_INTERVAL_MIN 2 + /** * The PX4IO class. * @@ -817,8 +819,8 @@ PX4IO::task_main() /* adjust update interval */ if (_update_interval != 0) { - if (_update_interval < 5) - _update_interval = 5; + if (_update_interval < UPDATE_INTERVAL_MIN) + _update_interval = UPDATE_INTERVAL_MIN; if (_update_interval > 100) _update_interval = 100; orb_set_interval(_t_actuators, _update_interval); @@ -2058,8 +2060,8 @@ int PX4IO::set_update_rate(int rate) { int interval_ms = 1000 / rate; - if (interval_ms < 3) { - interval_ms = 3; + if (interval_ms < UPDATE_INTERVAL_MIN) { + interval_ms = UPDATE_INTERVAL_MIN; warnx("update rate too high, limiting interval to %d ms (%d Hz).", interval_ms, 1000 / interval_ms); } @@ -2442,7 +2444,7 @@ px4io_main(int argc, char *argv[]) if ((argc > 2)) { g_dev->set_update_rate(atoi(argv[2])); } else { - errx(1, "missing argument (50 - 400 Hz)"); + errx(1, "missing argument (50 - 500 Hz)"); return 1; } exit(0); |