From 60eca61e41bbae8fdcb6f92ecdc130a49e49fd29 Mon Sep 17 00:00:00 2001 From: px4dev Date: Sun, 17 Mar 2013 15:54:19 -0700 Subject: [PATCH] HOTFIX: Adjust the FMU update rate adaption logic to avoid constant debug message spew when not in a PWM mode. Fixes #229 --- apps/drivers/px4fmu/fmu.cpp | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp index 476adb7f0b..e547245367 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/apps/drivers/px4fmu/fmu.cpp @@ -427,16 +427,17 @@ PX4FMU::task_main() /* reject faster than 500 Hz updates */ if (update_rate_in_ms < 2) { update_rate_in_ms = 2; - _current_update_rate = 500; } - /* reject slower than 50 Hz updates */ - if (update_rate_in_ms > 20) { - update_rate_in_ms = 20; - _current_update_rate = 50; + /* reject slower than 10 Hz updates */ + if (update_rate_in_ms > 100) { + update_rate_in_ms = 100; } debug("adjusted actuator update interval to %ums", update_rate_in_ms); orb_set_interval(_t_actuators, update_rate_in_ms); + + // set to current max rate, even if we are actually checking slower/faster + _current_update_rate = max_rate; } /* sleep waiting for data, stopping to check for PPM