From c4440a81f4ea14d1eedd39c35085b38554698fe8 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 8 Jun 2020 14:19:30 +0900 Subject: [PATCH] SITL: SIM_Vicon supports sending at 50hz --- libraries/SITL/SIM_Vicon.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/SITL/SIM_Vicon.cpp b/libraries/SITL/SIM_Vicon.cpp index ab521395c8..2be7e9837e 100644 --- a/libraries/SITL/SIM_Vicon.cpp +++ b/libraries/SITL/SIM_Vicon.cpp @@ -100,8 +100,8 @@ void Vicon::update_vicon_position_estimate(const Location &loc, return; } - if (now_us - last_observation_usec < 70000) { - // create observations at 70ms intervals (matches EK2 max rate) + if (now_us - last_observation_usec < 20000) { + // create observations at 20ms intervals (matches EKF max rate) return; }