Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: reduced delay time in main loop to 50us 

this allows for faster loop rates, and seems to be enough in testing
This commit is contained in:
Andrew Tridgell 2019-02-18 12:40:50 +11:00
parent 958b1032c5
commit bd47aba5ca
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
View File

@ -198,7 +198,7 @@ static void main_loop()
g_callbacks->loop(); g_callbacks->loop();
/* /*
give up 250 microseconds of time if the INS loop hasn't give up 50 microseconds of time if the INS loop hasn't
called delay_microseconds_boost(), to ensure low priority called delay_microseconds_boost(), to ensure low priority
drivers get a chance to run. Calling drivers get a chance to run. Calling
delay_microseconds_boost() means we have already given up delay_microseconds_boost() means we have already given up
@ -207,7 +207,7 @@ static void main_loop()
*/ */
#ifndef HAL_DISABLE_LOOP_DELAY #ifndef HAL_DISABLE_LOOP_DELAY
if (!schedulerInstance.check_called_boost()) { if (!schedulerInstance.check_called_boost()) {
hal.scheduler->delay_microseconds(250); hal.scheduler->delay_microseconds(50);
} }
#endif #endif
} }