From dc0941ac09cdc14fbeed001923f6d7deea3c6c8e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 22 Sep 2024 13:46:09 +1000
Subject: [PATCH] ArduPlane: correct initialisation of PrecLand buffers

this value determines the size of buffers allocated.

Too high and you waste RAM.  Too low and you probably won't store data correctly.
---
 ArduPlane/system.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index a38e00b9a2..a71e5790c1 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -162,7 +162,9 @@ void Plane::init_ardupilot()
 #endif
 
 #if AC_PRECLAND_ENABLED
-    g2.precland.init(scheduler.get_loop_rate_hz());
+    // scheduler table specifies 400Hz, but we can call it no faster
+    // than the scheduler loop rate:
+    g2.precland.init(MIN(400, scheduler.get_loop_rate_hz()));
 #endif
 
 #if AP_ICENGINE_ENABLED