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Copter: run Linux boards at 100Hz for now

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we should be able to do 400Hz in future
This commit is contained in:
Andrew Tridgell 2014-08-19 19:42:33 +10:00
parent 9e01c657e5
commit a627cd2af2
1 changed files with 1 additions and 6 deletions
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7
ArduCopter/config.h
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@ -86,16 +86,11 @@
# define AC_RALLY DISABLED # define AC_RALLY DISABLED
#endif #endif
#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL #if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// low power CPUs (APM1, APM2 and SITL) // low power CPUs (APM1, APM2 and SITL)
# define MAIN_LOOP_RATE 100 # define MAIN_LOOP_RATE 100
# define MAIN_LOOP_SECONDS 0.01 # define MAIN_LOOP_SECONDS 0.01
# define MAIN_LOOP_MICROS 10000 # define MAIN_LOOP_MICROS 10000
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// Linux boards
# define MAIN_LOOP_RATE 200
# define MAIN_LOOP_SECONDS 0.005
# define MAIN_LOOP_MICROS 5000
#else #else
// high power CPUs (Flymaple, PX4, Pixhawk, VRBrain) // high power CPUs (Flymaple, PX4, Pixhawk, VRBrain)
# define MAIN_LOOP_RATE 400 # define MAIN_LOOP_RATE 400