From dc55432df3a37700be8dbf0f795e96e5de4ec843 Mon Sep 17 00:00:00 2001
From: vivek-shankar <robovivek@gmail.com>
Date: Sat, 28 Jan 2017 03:56:49 -0500
Subject: [PATCH] increase in loop rate

---
 src/CommunicationManager.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp
index c6c5be8..8bb5498 100644
--- a/src/CommunicationManager.cpp
+++ b/src/CommunicationManager.cpp
@@ -33,7 +33,7 @@ namespace Xbee
 //*****************************************************************************
 CommunicationManager::CommunicationManager():
 	START_DLIMITER(static_cast<unsigned char>(0x7E)),
-	LOOP_RATE(10) /* 10 fps */
+	LOOP_RATE(30) /* 10 fps */
 {
 }
 
@@ -556,7 +556,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
 				Generate_Transmit_Request_Frame(temporary_buffer, &frame);
 				serial_device_.Send_Frame(frame);
 				/*Sleep for some time in order not to confuse Xbee, a try to reduce errors*/
-				usleep(200);
+				//usleep(200);
 				//std::cout << "Frame:"<<frame << std::endl;
 				//std::cout << "size of frame:"<<std::strlen(temporary_buffer)<< std::endl;
 				number++;