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autotest: make last_letter run at 500Hz

This commit is contained in:
Andrew Tridgell 2015-05-22 11:31:24 +10:00
parent 0b4d7fbb22
commit 088fb95192
1 changed files with 6 additions and 3 deletions
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9
Tools/autotest/ROS/runsim.py
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@ -98,7 +98,6 @@ def process_ros_input(buf,frame_count, timestamp):
if e.errno not in [ errno.ECONNREFUSED ]: if e.errno not in [ errno.ECONNREFUSED ]:
raise raise
print('timestamp=', timestamp)
simbuf = struct.pack('<Q17dI', simbuf = struct.pack('<Q17dI',
timestamp, timestamp,
fdm.get('latitude', units='degrees'), fdm.get('latitude', units='degrees'),
@ -223,15 +222,19 @@ def main_loop():
tnow = time.time() tnow = time.time()
try:
ros.read_nonblocking(size=1000, timeout=0)
except Exception as ex:
pass
if ros_in.fileno() in rin: if ros_in.fileno() in rin:
buf = ros_in.recv(fdm.packet_size()) buf = ros_in.recv(fdm.packet_size())
process_ros_input(buf,frame_count, timestamp) process_ros_input(buf,frame_count, timestamp)
frame_count += 1 frame_count += 1
timestamp += 1000 timestamp += 2000
if sim_in.fileno() in rin: if sim_in.fileno() in rin:
simbuf = sim_in.recv(28) simbuf = sim_in.recv(28)
print(len(simbuf))
process_sitl_input(simbuf) process_sitl_input(simbuf)
last_sim_input = tnow last_sim_input = tnow