forked from Archive/PX4-Autopilot
Quite flyable state
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@ -1065,7 +1065,7 @@ int commander_thread_main(int argc, char *argv[])
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/* create pthreads */
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pthread_attr_t command_handling_attr;
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pthread_attr_init(&command_handling_attr);
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pthread_attr_setstacksize(&command_handling_attr, 4096);
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pthread_attr_setstacksize(&command_handling_attr, 6000);
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pthread_create(&command_handling_thread, &command_handling_attr, command_handling_loop, NULL);
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pthread_attr_t subsystem_info_attr;
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@ -1557,8 +1557,8 @@ int mavlink_thread_main(int argc, char *argv[])
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set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
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/* 5 Hz / 200 ms */
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set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
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/* 0.2 Hz */
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set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 5000);
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/* 2 Hz */
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set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
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} else {
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/* very low baud rate, limit to 1 Hz / 1000 ms */
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set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000);
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@ -958,7 +958,7 @@ Sensors::ppm_poll()
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_ppm_last_valid = ppm_last_valid_decode;
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/* Read out values from HRT */
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for (unsigned int i = 0; channel_limit; i++) {
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for (unsigned int i = 0; i < channel_limit; i++) {
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_rc.chan[i].raw = ppm_buffer[i];
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/* Set the range to +-, then scale up */
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_rc.chan[i].scale = (ppm_buffer[i] - _rc.chan[i].mid) * _rc.chan[i].scaling_factor * 10000;
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@ -204,7 +204,7 @@ static int at24c_eraseall(FAR struct at24c_dev_s *priv)
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while (I2C_TRANSFER(priv->dev, &msgv[0], 1) < 0)
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{
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fvdbg("erase stall\n");
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usleep(1000);
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usleep(10000);
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}
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}
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