From d60a68fd9c8b1d288efc8a6f1cdce8c1348972ba Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 10 Oct 2013 19:50:09 +1100
Subject: [PATCH] AP_Baro: check baro at exactly 100Hz

prevent waits for samples
---
 libraries/AP_Baro/AP_Baro_MS5611.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/libraries/AP_Baro/AP_Baro_MS5611.cpp b/libraries/AP_Baro/AP_Baro_MS5611.cpp
index fbf9ece822..88e70c9cd6 100644
--- a/libraries/AP_Baro/AP_Baro_MS5611.cpp
+++ b/libraries/AP_Baro/AP_Baro_MS5611.cpp
@@ -291,9 +291,7 @@ void AP_Baro_MS5611::_update(void)
 {
     uint32_t tnow = hal.scheduler->micros();
     // Throttle read rate to 100hz maximum.
-    // note we use 9500us here not 10000us
-    // the read rate will end up at exactly 100hz because the Periodic Timer fires at 1khz
-    if (tnow - _timer < 9500) {
+    if (tnow - _timer < 10000) {
         return;
     }