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feat(gimbal): reduce poll time in aux mode

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Pernilla 2026-03-20 10:43:48 +01:00 committed by Silvan Fuhrer
parent 962db50ce7
commit 424f544c6d
1 changed files with 3 additions and 1 deletions
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4
src/modules/gimbal/gimbal.cpp
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@ -197,6 +197,8 @@ static int gimbal_thread_main(int argc, char *argv[])
thread_should_exit.store(true);
}
const unsigned int poll_timeout_ms = params.mnt_mode_out == MNT_MODE_OUT_AUX ? 10 : 20;
while (!thread_should_exit.load()) {
const bool updated = parameter_update_sub.updated();
@ -219,7 +221,7 @@ static int gimbal_thread_main(int argc, char *argv[])
const bool already_active = (thread_data.last_input_active == i);
// poll only on active input to reduce latency, or on all if none is active
const unsigned int poll_timeout =
(already_active || thread_data.last_input_active == -1) ? 20 : 0;
(already_active || thread_data.last_input_active == -1) ? poll_timeout_ms : 0;
update_result = thread_data.input_objs[i]->update(poll_timeout, thread_data.control_data, already_active);