From 85efab1ec85ca62a0fdb55163400bfba3c0c89b8 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 23 May 2018 21:37:42 +0900 Subject: [PATCH] AP_RangeFinder: reduce MaxsonarI2C update to 10hz --- libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp index 62e91a658c..d8fca667a8 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp @@ -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) {