Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 09:28:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: run Linux boards at 100Hz for now

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduCopter/config.h
View File

@ -86,16 +86,11 @@
# define AC_RALLY DISABLED
#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)
# define MAIN_LOOP_RATE 100
# define MAIN_LOOP_SECONDS 0.01
# 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
// high power CPUs (Flymaple, PX4, Pixhawk, VRBrain)
# define MAIN_LOOP_RATE 400