From 5f38669666437363ccfa6bfae7a5f364f840a650 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 5 Jul 2012 16:27:13 +1000
Subject: [PATCH] SITL: run the HIL barometer at 80Hz to match APM2

---
 libraries/Desktop/support/sitl_barometer.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/libraries/Desktop/support/sitl_barometer.cpp b/libraries/Desktop/support/sitl_barometer.cpp
index 2be39737e6..465041f00c 100644
--- a/libraries/Desktop/support/sitl_barometer.cpp
+++ b/libraries/Desktop/support/sitl_barometer.cpp
@@ -25,6 +25,13 @@ void sitl_update_barometer(float altitude)
 {
 	extern AP_Baro_BMP085_HIL barometer;
 	double Temp, Press, y;
+	static uint32_t last_update;
+
+	// 80Hz, to match the real APM2 barometer
+	if (millis() - last_update < 12) {
+		return;
+	}
+	last_update = millis();
 
 	Temp = 312;