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Reducing pos/att correction update rates for debugging.

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This commit is contained in:
James Goppert
2013-01-15 15:11:24 -05:00
parent 28ef7aa1be
commit afb69cd054
2 changed files with 4 additions and 6 deletions
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apps/examples/kalman_demo/KalmanNav.cpp
+3 -5
View File
@@ -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();
}
apps/mavlink/orb_listener.c
+1 -1
View File
@@ -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));