Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Periph : CAN

Browse Source 
Remove 100 times message counter to improve magnetometer performance.

Tested and uavcan.equipment.ahrs.MagneticFieldStrength improves from 7msgs/sec to 75msgs/sec which is likely the output rate of the actual sensor.
This commit is contained in:
Phillip Kocmoud 2019-08-28 20:03:39 -05:00 committed by Andrew Tridgell
parent 49b0d46612
commit 1dc57c84c4
1 changed files with 0 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
Tools/AP_Periph/can.cpp
View File

@ -693,11 +693,6 @@ void AP_Periph_FW::can_mag_update(void)
if (last_mag_update_ms == compass.last_update_ms()) { if (last_mag_update_ms == compass.last_update_ms()) {
return; return;
} }
static uint8_t counter;
if (counter++ != 100) {
return;
}
counter = 0;
last_mag_update_ms = compass.last_update_ms(); last_mag_update_ms = compass.last_update_ms();
const Vector3f &field = compass.get_field(); const Vector3f &field = compass.get_field();