diff options
Diffstat (limited to 'apps/drivers/px4fmu/fmu.cpp')
| -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 61dd418f8..d5c50fbf0 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/apps/drivers/px4fmu/fmu.cpp @@ -331,8 +331,16 @@ 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; |