AP_OpticalFlow: run PX4 flow sensor at 10Hz

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-12-06 18:14:43 +11:00 · 2014-12-06 18:14:43 +11:00 · ed510d4f87
parent a2bd3b4a42
commit ed510d4f87
1 changed files with 5 additions and 0 deletions
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.cpp
@ -47,6 +47,11 @@ void AP_OpticalFlow_PX4::init(void)
        return;
    }

+    // change to 10Hz update
+    if (ioctl(_fd, SENSORIOCSPOLLRATE, 10) != 0) {
+        hal.console->printf("Unable to set flow rate to 10Hz\n");        
+    }
+
    // if we got this far, the sensor must be healthy
    _flags.healthy = true;
 }