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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-01 19:42:29 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-01 19:42:29 +0400 |
| commit | a1ea89ea2d3665709f5249ebd7cc3fbadaca603a (patch) | |
| tree | a04970f0608682c6c4b8934a14325e9c079fa629 /src/modules/mavlink/mavlink_main.cpp | |
| parent | 6948defdb26711fd8336b5e0173664bf98517406 (diff) | |
| download | px4-firmware-a1ea89ea2d3665709f5249ebd7cc3fbadaca603a.tar.gz px4-firmware-a1ea89ea2d3665709f5249ebd7cc3fbadaca603a.tar.bz2 px4-firmware-a1ea89ea2d3665709f5249ebd7cc3fbadaca603a.zip | |
mavlink: more precise message streams timing
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index fb29c9c71..e6c474aa7 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1462,8 +1462,8 @@ MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic) int Mavlink::configure_stream(const char *stream_name, const float rate) { - /* calculate interval in ms, 0 means disabled stream */ - unsigned int interval = (rate > 0.0f) ? (1000.0f / rate) : 0; + /* calculate interval in us, 0 means disabled stream */ + unsigned int interval = (rate > 0.0f) ? (1000000.0f / rate) : 0; /* search if stream exists */ MavlinkStream *stream; @@ -1752,8 +1752,8 @@ Mavlink::task_main(int argc, char *argv[]) /* don't send parameters on startup without request */ _mavlink_param_queue_index = param_count(); - MavlinkRateLimiter slow_rate_limiter(2000.0f / rate_mult); - MavlinkRateLimiter fast_rate_limiter(100.0f / rate_mult); + MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult); + MavlinkRateLimiter fast_rate_limiter(100000.0f / rate_mult); /* set main loop delay depending on data rate to minimize CPU overhead */ _main_loop_delay = MAIN_LOOP_DELAY / rate_mult; |