From 3e88b2f2b102b9ae22539422e03396e8ab112b04 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 22 Feb 2017 23:51:22 +0100 Subject: [PATCH] Rate-limit navigator update rate --- src/modules/navigator/navigator_main.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 13e5b65872..ce40323c01 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -342,6 +342,9 @@ Navigator::task_main() bool global_pos_available_once = false; + /* rate-limit global pos subscription to 20 Hz / 50 ms */ + orb_set_interval(_global_pos_sub, 49); + while (!_task_should_exit) { /* wait for up to 200ms for data */