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Copter: run_nav_updates at 50hz on Pixhawk, 25hz on APM2

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Based on work by Jon Challinger (see earlier commit)
This commit is contained in:
Randy Mackay 2014-12-05 13:59:29 +09:00
parent aa1b0da254
commit f5fb21b1d7
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/ArduCopter.pde
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@ -801,7 +801,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ arm_motors_check, 40, 1 }, { arm_motors_check, 40, 1 },
{ auto_trim, 40, 14 }, { auto_trim, 40, 14 },
{ update_altitude, 40, 100 }, { update_altitude, 40, 100 },
{ run_nav_updates, 4, 80 }, { run_nav_updates, 8, 80 },
{ update_thr_cruise, 40, 10 }, { update_thr_cruise, 40, 10 },
{ three_hz_loop, 133, 9 }, { three_hz_loop, 133, 9 },
{ compass_accumulate, 8, 42 }, { compass_accumulate, 8, 42 },
@ -869,7 +869,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ arm_motors_check, 10, 10 }, { arm_motors_check, 10, 10 },
{ auto_trim, 10, 140 }, { auto_trim, 10, 140 },
{ update_altitude, 10, 1000 }, { update_altitude, 10, 1000 },
{ run_nav_updates, 10, 800 }, { run_nav_updates, 4, 800 },
{ update_thr_cruise, 1, 50 }, { update_thr_cruise, 1, 50 },
{ three_hz_loop, 33, 90 }, { three_hz_loop, 33, 90 },
{ compass_accumulate, 2, 420 }, { compass_accumulate, 2, 420 },