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FW attitude control: Run attitude controller as fast as we can to minimize latency

This commit is contained in:
Lorenz Meier 2015-06-04 18:53:38 +02:00
parent bca13e3e1b
commit 8838b18da7
1 changed files with 3 additions and 2 deletions
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5
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -634,8 +634,9 @@ FixedwingAttitudeControl::task_main()
/* rate limit vehicle status updates to 5Hz */ /* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vcontrol_mode_sub, 200); orb_set_interval(_vcontrol_mode_sub, 200);
/* rate limit attitude control to 50 Hz (with some margin, so 17 ms) */ /* do not limit the attitude updates in order to minimize latency.
orb_set_interval(_att_sub, 17); * actuator outputs are still limited by the individual drivers
* properly to not saturate IO or physical limitations */
parameters_update(); parameters_update();