From 28ef7aa1bea97593637537c832b07459a2520b86 Mon Sep 17 00:00:00 2001 From: James Goppert Date: Tue, 15 Jan 2013 14:03:04 -0500 Subject: Refactored RPos. Increased global pos output rate for debugging. --- apps/mavlink/orb_listener.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'apps/mavlink/orb_listener.c') diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index f5253ea35..a7b43e2b9 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -702,7 +702,7 @@ uorb_receive_start(void) /* --- GLOBAL POS VALUE --- */ mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - orb_set_interval(mavlink_subs.global_pos_sub, 1000); /* 1Hz active updates */ + orb_set_interval(mavlink_subs.global_pos_sub, 5); /* 200 Hz active updates */ /* --- LOCAL POS VALUE --- */ mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); -- cgit v1.2.3 From afb69cd05450d6df1bf2233b95030c9b93daaf1e Mon Sep 17 00:00:00 2001 From: James Goppert Date: Tue, 15 Jan 2013 15:11:24 -0500 Subject: Reducing pos/att correction update rates for debugging. --- apps/examples/kalman_demo/KalmanNav.cpp | 8 +++----- apps/mavlink/orb_listener.c | 2 +- 2 files changed, 4 insertions(+), 6 deletions(-) (limited to 'apps/mavlink/orb_listener.c') diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp index 0f3069d11..3966b4fcd 100644 --- a/apps/examples/kalman_demo/KalmanNav.cpp +++ b/apps/examples/kalman_demo/KalmanNav.cpp @@ -65,8 +65,8 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) : C_nb(), q(), // subscriptions - _sensors(&getSubscriptions(), ORB_ID(sensor_combined), 1), // limit to 1000 Hz - _gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz + _sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz + _gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 1000), // limit to 1 Hz _param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz // publications _pos(&getPublications(), ORB_ID(vehicle_global_position)), @@ -208,7 +208,6 @@ void KalmanNav::update() predictFast(dtFast); // count fast frames _navFrames += 1; - } else _missFast++; // slow prediction step @@ -216,7 +215,6 @@ void KalmanNav::update() if (dtSlow > 1.0f / 100) { // 100 Hz _slowTimeStamp = _sensors.timestamp; - if (dtSlow < 1.0f / 50) predictSlow(dtSlow); else _missSlow ++; } @@ -227,7 +225,7 @@ void KalmanNav::update() } // attitude correction step - if (_sensors.timestamp - _attTimeStamp > 1e6 / 20) { // 20 Hz + if (_sensors.timestamp - _attTimeStamp > 1e6 / 1) { // 1 Hz _attTimeStamp = _sensors.timestamp; correctAtt(); } diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index a7b43e2b9..43bb4fb28 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -702,7 +702,7 @@ uorb_receive_start(void) /* --- GLOBAL POS VALUE --- */ mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - orb_set_interval(mavlink_subs.global_pos_sub, 5); /* 200 Hz active updates */ + orb_set_interval(mavlink_subs.global_pos_sub, 100); /* 10 Hz active updates */ /* --- LOCAL POS VALUE --- */ mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); -- cgit v1.2.3