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AP_RangeFinder: reduce MaxsonarI2C update to 10hz

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This commit is contained in:
Randy Mackay 2018-05-23 21:37:42 +09:00
parent fd2e5741ce
commit 85efab1ec8
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
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@ -79,7 +79,7 @@ bool AP_RangeFinder_MaxsonarI2CXL::_init(void)
}
// give time for the sensor to process the request
hal.scheduler->delay(50);
hal.scheduler->delay(100);
uint16_t reading_cm;
if (!get_reading(reading_cm)) {
@ -89,7 +89,7 @@ bool AP_RangeFinder_MaxsonarI2CXL::_init(void)
_dev->get_semaphore()->give();
_dev->register_periodic_callback(50000,
_dev->register_periodic_callback(100000,
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_MaxsonarI2CXL::_timer, void));
return true;
@ -124,7 +124,7 @@ bool AP_RangeFinder_MaxsonarI2CXL::get_reading(uint16_t &reading_cm)
}
/*
timer called at 20Hz
timer called at 10Hz
*/
void AP_RangeFinder_MaxsonarI2CXL::_timer(void)
{