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HAL_ChibiOS: run CAN thread at 3KHz

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at 10KHz we were causing occasional CRC errors on the UART to IOMCU
This commit is contained in:
Andrew Tridgell 2018-06-20 09:49:34 +10:00
parent a7ce864296
commit e11b3f2f0e
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_HAL_ChibiOS/Scheduler.cpp
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@ -306,7 +306,7 @@ void Scheduler::_uavcan_thread(void *arg)
sched->delay_microseconds(20000);
}
while (true) {
sched->delay_microseconds(100);
sched->delay_microseconds(300);
for (int i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
if (AP_UAVCAN::get_uavcan(i) != nullptr) {
CANManager::from(hal.can_mgr[i])->_timer_tick();