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Copter: restore SITL to run at 100hz

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This commit is contained in:
Randy Mackay 2014-04-21 21:45:26 +09:00
parent 6f6c9e2585
commit 5fc071f5f9
1 changed files with 7 additions and 5 deletions
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12
ArduCopter/config.h
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@ -100,14 +100,16 @@
# define OPTFLOW DISABLED
#endif
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
# define MAIN_LOOP_RATE 400
# define MAIN_LOOP_SECONDS 0.0025
# define MAIN_LOOP_MICROS 2500
#else
#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
// low power CPUs (APM1, APM2 and SITL)
# define MAIN_LOOP_RATE 100
# define MAIN_LOOP_SECONDS 0.01
# define MAIN_LOOP_MICROS 10000
#else
// high power CPUs (Flymaple, PX4, Pixhawk, VRBrain)
# define MAIN_LOOP_RATE 400
# define MAIN_LOOP_SECONDS 0.0025
# define MAIN_LOOP_MICROS 2500
#endif
//////////////////////////////////////////////////////////////////////////////