From 27701e9525339bb2f12a38bfefad019bfcbf802c Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sat, 25 Sep 2021 22:11:14 +0100 Subject: [PATCH] AP_Proximity: lower SF45B update rate --- libraries/AP_Proximity/AP_Proximity_LightWareSF45B.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Proximity/AP_Proximity_LightWareSF45B.cpp b/libraries/AP_Proximity/AP_Proximity_LightWareSF45B.cpp index 6359de85df..0867b30a7d 100644 --- a/libraries/AP_Proximity/AP_Proximity_LightWareSF45B.cpp +++ b/libraries/AP_Proximity/AP_Proximity_LightWareSF45B.cpp @@ -29,7 +29,7 @@ static const uint32_t PROXIMITY_SF45B_TIMEOUT_MS = 200; static const uint32_t PROXIMITY_SF45B_REINIT_INTERVAL_MS = 5000; // re-initialise sensor after this many milliseconds static const float PROXIMITY_SF45B_COMBINE_READINGS_DEG = 5.0f; // combine readings from within this many degrees to improve efficiency static const uint32_t PROXIMITY_SF45B_STREAM_DISTANCE_DATA_CM = 5; -static const uint8_t PROXIMITY_SF45B_DESIRED_UPDATE_RATE = 8; // 1:48hz, 2:55hz, 3:64hz, 4:77hz, 5:97hz, 6:129hz, 7:194hz, 8:388hz +static const uint8_t PROXIMITY_SF45B_DESIRED_UPDATE_RATE = 6; // 1:48hz, 2:55hz, 3:64hz, 4:77hz, 5:97hz, 6:129hz, 7:194hz, 8:388hz static const uint32_t PROXIMITY_SF45B_DESIRED_FIELDS = ((uint32_t)1 << 0 | (uint32_t)1 << 8); // first return (unfiltered), yaw angle static const uint16_t PROXIMITY_SF45B_DESIRED_FIELD_COUNT = 2; // DISTANCE_DATA_CM message should contain two fields