Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-22 06:14:14 +08:00
Code Issues Actions 8 Packages Projects Releases Wiki Activity

mc_pos_control limit to 50 Hz

Browse Source
This commit is contained in:
Daniel Agar
2019-03-13 10:50:13 -04:00
parent f3533d31f8
commit 1083af21e8
1 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
+3 -1
View File
@@ -582,11 +582,13 @@ MulticopterPositionControl::run()
_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_home_pos_sub = orb_subscribe(ORB_ID(home_position));
_traj_wp_avoidance_sub = orb_subscribe(ORB_ID(vehicle_trajectory_waypoint));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
orb_set_interval(_local_pos_sub, 20); // 50 Hz updates
// get initial values for all parameters and subscribtions
parameters_update(true);
poll_subscriptions();