From 322671ea27c7bd89517c3a825f534387dfc9f583 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 8 Apr 2020 18:42:13 -0400 Subject: [PATCH] mc_pos_control: align updates with ekf2 --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index a8307b6c86..69c8d6cea5 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -316,7 +316,8 @@ MulticopterPositionControl::init() return false; } - _local_pos_sub.set_interval_us(20_ms); // 50 Hz max update rate + // limit to every other vehicle_local_position update (~62.5 Hz) + _local_pos_sub.set_interval_us(16_ms); _time_stamp_last_loop = hrt_absolute_time();