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SITL: increase simulated rangefinder frequency to 5Hz

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This commit is contained in:
Peter Barker 2019-11-08 20:19:55 +11:00 committed by Peter Barker
parent 7b046c8b75
commit c1acdc4994
2 changed files with 4 additions and 2 deletions
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4
libraries/SITL/SIM_SerialRangeFinder.cpp
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@ -61,9 +61,9 @@ uint16_t SerialRangeFinder::calculate_range_cm(float range_value) const
void SerialRangeFinder::update(float range) 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(); const uint32_t now = AP_HAL::millis();
if (now - last_sent_ms < 1000) { if (now - last_sent_ms < reading_interval_ms()) {
return; return;
} }
last_sent_ms = now; last_sent_ms = now;

2
libraries/SITL/SIM_SerialRangeFinder.h
View File

@ -36,6 +36,8 @@ public:
virtual uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) = 0; 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: private:
uint32_t last_sent_ms; uint32_t last_sent_ms;