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AP_ADSB: run dynamic at 5Hz and static/cfg at 5sec

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This commit is contained in:
Tom Pittenger 2016-07-13 01:06:54 -07:00
parent ea0a5c973c
commit 8b9057f23c
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_ADSB/AP_ADSB.cpp
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@ -219,13 +219,13 @@ void AP_ADSB::update(void)
// haven't gotten a heartbeat health status packet in a while, assume hardware failure // haven't gotten a heartbeat health status packet in a while, assume hardware failure
out_state.chan = -1; out_state.chan = -1;
} else { } else {
if (now - out_state.last_config_ms >= 10000) { if (now - out_state.last_config_ms >= 5000) {
out_state.last_config_ms = now; out_state.last_config_ms = now;
send_configure((mavlink_channel_t)(MAVLINK_COMM_0 + out_state.chan)); send_configure((mavlink_channel_t)(MAVLINK_COMM_0 + out_state.chan));
} // last_config_ms } // last_config_ms
// send dynamic data to transceiver, every 1s // send dynamic data to transceiver at 5Hz
if (now - out_state.last_report_ms >= 1000) { if (now - out_state.last_report_ms >= 200) {
out_state.last_report_ms = now; out_state.last_report_ms = now;
send_dynamic_out((mavlink_channel_t)(MAVLINK_COMM_0 + out_state.chan)); send_dynamic_out((mavlink_channel_t)(MAVLINK_COMM_0 + out_state.chan));
} // last_report_ms } // last_report_ms