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SITL: default SIM_RATE_HZ to 400 in SITL-on-hw

This commit is contained in:
Andrew Tridgell 2022-12-22 10:56:39 +11:00
parent 5f8e655f98
commit fdd0d0ae53
1 changed files with 9 additions and 1 deletions
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10
libraries/SITL/SITL.cpp
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@ -40,6 +40,14 @@
extern const AP_HAL::HAL& hal;
#ifndef SIM_RATE_HZ_DEFAULT
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define SIM_RATE_HZ_DEFAULT 1200
#else
#define SIM_RATE_HZ_DEFAULT 400
#endif
#endif
namespace SITL {
SIM *SIM::_singleton = nullptr;
@ -222,7 +230,7 @@ const AP_Param::GroupInfo SIM::var_info3[] = {
// vicon velocity glitch in NED frame
AP_GROUPINFO("VICON_VGLI", 21, SIM, vicon_vel_glitch, 0),
AP_GROUPINFO("RATE_HZ", 22, SIM, loop_rate_hz, 1200),
AP_GROUPINFO("RATE_HZ", 22, SIM, loop_rate_hz, SIM_RATE_HZ_DEFAULT),
// count of simulated IMUs
AP_GROUPINFO("IMU_COUNT", 23, SIM, imu_count, 2),