From 5b4717ea5581602eca2f5ad2c98d44098f0701ab Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 16 Dec 2011 18:50:28 +1100
Subject: [PATCH] timers: change to 1kHz timer by default

we were using a 227Hz timer, which is far too slow
---
 libraries/AP_PeriodicProcess/AP_TimerProcess.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_PeriodicProcess/AP_TimerProcess.h b/libraries/AP_PeriodicProcess/AP_TimerProcess.h
index 2d9d2ae93f..27779ca825 100644
--- a/libraries/AP_PeriodicProcess/AP_TimerProcess.h
+++ b/libraries/AP_PeriodicProcess/AP_TimerProcess.h
@@ -5,8 +5,8 @@
 #include "PeriodicProcess.h"
 #include "../Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h"
 
-/* XXX this value is a total guess, will look up. */
-#define TIMERPROCESS_PER_DEFAULT (256)
+// default to 1kHz timer interrupt
+#define TIMERPROCESS_PER_DEFAULT (256-62) // 1kHz
 
 #define AP_TIMERPROCESS_MAX_PROCS 3