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AC_WPNav: run navigation at 10hz in SITL

This commit is contained in:
Randy Mackay 2014-05-06 20:33:13 +09:00
parent 0819e05896
commit 48ec0caf75
1 changed files with 4 additions and 4 deletions
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8
libraries/AC_WPNav/AC_WPNav.h
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@ -30,12 +30,12 @@
#define WPNAV_LEASH_LENGTH_MIN 100.0f // minimum leash lengths in cm
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
# define WPNAV_LOITER_UPDATE_TIME 0.020f // 50hz update rate on high speed CPUs (Pixhawk, Flymaple)
# define WPNAV_WP_UPDATE_TIME 0.020f // 50hz update rate on high speed CPUs (Pixhawk, Flymaple)
#else
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# define WPNAV_LOITER_UPDATE_TIME 0.095f // 10hz update rate on low speed CPUs (APM1, APM2)
# define WPNAV_WP_UPDATE_TIME 0.095f // 10hz update rate on low speed CPUs (APM1, APM2)
#else
# define WPNAV_LOITER_UPDATE_TIME 0.020f // 50hz update rate on high speed CPUs (Pixhawk, Flymaple)
# define WPNAV_WP_UPDATE_TIME 0.020f // 50hz update rate on high speed CPUs (Pixhawk, Flymaple)
#endif
#define WPNAV_LOITER_ACTIVE_TIMEOUT_MS 200 // loiter controller is considered active if it has been called within the past 200ms (0.2 seconds)