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Merge pull request #442 from PX4/px4io_rate_fix 

px4io: make "too high rate" warning consistent with real behavor
This commit is contained in:
Lorenz Meier 2013-10-06 14:19:17 -07:00
parent 4ceddfdd92 378041ad31
commit 55f7c561ef
1 changed files with 7 additions and 5 deletions
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12
src/drivers/px4io/px4io.cpp
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@ -94,6 +94,8 @@ extern device::Device *PX4IO_serial_interface() weak_function;
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
#define UPDATE_INTERVAL_MIN 2
/**
* The PX4IO class.
*
@ -790,8 +792,8 @@ PX4IO::task_main()
/* adjust update interval */
if (_update_interval != 0) {
if (_update_interval < 5)
_update_interval = 5;
if (_update_interval < UPDATE_INTERVAL_MIN)
_update_interval = UPDATE_INTERVAL_MIN;
if (_update_interval > 100)
_update_interval = 100;
orb_set_interval(_t_actuators, _update_interval);
@ -1942,8 +1944,8 @@ int
PX4IO::set_update_rate(int rate)
{
int interval_ms = 1000 / rate;
if (interval_ms < 3) {
interval_ms = 3;
if (interval_ms < UPDATE_INTERVAL_MIN) {
interval_ms = UPDATE_INTERVAL_MIN;
warnx("update rate too high, limiting interval to %d ms (%d Hz).", interval_ms, 1000 / interval_ms);
}
@ -2317,7 +2319,7 @@ px4io_main(int argc, char *argv[])
if ((argc > 2)) {
g_dev->set_update_rate(atoi(argv[2]));
} else {
errx(1, "missing argument (50 - 400 Hz)");
errx(1, "missing argument (50 - 500 Hz)");
return 1;
}
exit(0);