SITL: SIM_Vicon supports sending at 50hz

This commit is contained in:
Randy Mackay 2020-06-08 14:19:30 +09:00 committed by Andrew Tridgell
parent 6c10655059
commit c4440a81f4

View File

@ -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;
}