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px4-firmware
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testing

This commit is contained in:
Simon Wilks 2012-12-15 08:38:13 +01:00
parent 433c954858
commit 16aa618bb4
1 changed files with 6 additions and 0 deletions
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6
apps/drivers/px4fmu/fmu.cpp
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@ -297,6 +297,7 @@ PX4FMU::set_pwm_rate(unsigned rate)
if ((rate > 500) || (rate < 10))
return -EINVAL;
<<<<<<< HEAD:apps/drivers/px4fmu/fmu.cpp
_update_rate = rate;
return OK;
}
@ -312,6 +313,11 @@ PX4FMU::task_main()
ORB_ID(actuator_controls_1));
/* force a reset of the update rate */
_current_update_rate = 0;
=======
/* subscribe to objects that we are interested in watching */
_t_actuators = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
orb_set_interval(_t_actuators, 5); /* 200Hz update rate */
>>>>>>> testing:apps/px4/fmu/fmu.cpp
_t_armed = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(_t_armed, 200); /* 5Hz update rate */