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commander: update vehicle_status with at least 2Hz

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So we're sure it's logged.
This commit is contained in:
Beat Küng
2020-08-04 10:56:15 +02:00
committed by Daniel Agar
parent 5f8c6512b3
commit dfc2160489
1 changed files with 2 additions and 2 deletions
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src/modules/commander/Commander.cpp
+2 -2
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@@ -2356,8 +2356,8 @@ Commander::run()
_failsafe_old = status.failsafe;
}
/* publish states (armed, control_mode, vehicle_status, commander_state, vehicle_status_flags) at 1 Hz or immediately when changed */
if (hrt_elapsed_time(&status.timestamp) >= 1_s || _status_changed || nav_state_changed) {
/* publish states (armed, control_mode, vehicle_status, commander_state, vehicle_status_flags) at 2 Hz or immediately when changed */
if (hrt_elapsed_time(&status.timestamp) >= 500_ms || _status_changed || nav_state_changed) {
update_control_mode();