From c1acdc499460e86096a799ed2c284442f18a4491 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Nov 2019 20:19:55 +1100
Subject: [PATCH] SITL: increase simulated rangefinder frequency to 5Hz

---
 libraries/SITL/SIM_SerialRangeFinder.cpp | 4 ++--
 libraries/SITL/SIM_SerialRangeFinder.h   | 2 ++
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/SITL/SIM_SerialRangeFinder.cpp b/libraries/SITL/SIM_SerialRangeFinder.cpp
index 4655614af9..6e1eb4c4f4 100644
--- a/libraries/SITL/SIM_SerialRangeFinder.cpp
+++ b/libraries/SITL/SIM_SerialRangeFinder.cpp
@@ -61,9 +61,9 @@ uint16_t SerialRangeFinder::calculate_range_cm(float range_value) const
 
 void SerialRangeFinder::update(float range)
 {
-    // just send a chunk of data at 1Hz:
+    // just send a chunk of data at 5Hz:
     const uint32_t now = AP_HAL::millis();
-    if (now - last_sent_ms < 1000) {
+    if (now - last_sent_ms < reading_interval_ms()) {
         return;
     }
     last_sent_ms = now;
diff --git a/libraries/SITL/SIM_SerialRangeFinder.h b/libraries/SITL/SIM_SerialRangeFinder.h
index b843408332..dfa9c8fb0d 100644
--- a/libraries/SITL/SIM_SerialRangeFinder.h
+++ b/libraries/SITL/SIM_SerialRangeFinder.h
@@ -36,6 +36,8 @@ public:
 
     virtual uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) = 0;
 
+    virtual uint16_t reading_interval_ms() const { return 200; } // 5Hz default
+
 private:
 
     uint32_t last_sent_ms;