mirror of https://github.com/ArduPilot/ardupilot
AP_OAPathPlanner: slow updates to 1hz, timeout to 3sec
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@ -27,7 +27,8 @@ extern const AP_HAL::HAL &hal;
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const float OA_LOOKAHEAD_DEFAULT = 15;
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const float OA_MARGIN_MAX_DEFAULT = 5;
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const int16_t OA_TIMEOUT_MS = 2000; // avoidance results over 2 seconds old are ignored
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const int16_t OA_UPDATE_MS = 1000; // path planning updates run at 1hz
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const int16_t OA_TIMEOUT_MS = 3000; // results over 3 seconds old are ignored
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const AP_Param::GroupInfo AP_OAPathPlanner::var_info[] = {
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@ -204,7 +205,7 @@ void AP_OAPathPlanner::avoidance_thread()
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}
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const uint32_t now = AP_HAL::millis();
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if (now - avoidance_latest_ms < 100) {
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if (now - avoidance_latest_ms < OA_UPDATE_MS) {
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continue;
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}
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avoidance_latest_ms = now;
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