From 293bd026d0197f87896b3941651340cfcc10a4ca Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 30 Aug 2015 14:23:46 +0200 Subject: [PATCH] EKF: Set mag timeout --- .../ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index 95b4a90251..e8ddce57e2 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -219,6 +219,7 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() : _LP_att_Q(100.0f, 10.0f), _LP_att_R(100.0f, 10.0f) { + _voter_mag.set_timeout(200000); _parameter_handles.vel_delay_ms = param_find("PE_VEL_DELAY_MS"); _parameter_handles.pos_delay_ms = param_find("PE_POS_DELAY_MS"); @@ -1136,7 +1137,7 @@ int AttitudePositionEstimatorEKF::start() /* start the task */ _estimator_task = px4_task_spawn_cmd("ekf_att_pos_estimator", SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 40, + SCHED_PRIORITY_MAX - 20, 4800, (px4_main_t)&AttitudePositionEstimatorEKF::task_main_trampoline, nullptr);