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vmount: remove output rate-limiting

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It causes missed input changes.
This reverts 73d23742ea5c297f262c0e03caec61ee482977b1.
This commit is contained in:
Beat Küng 2018-01-19 10:05:32 +01:00 committed by Lorenz Meier
parent 5e826eaa27
commit 48edaa7ef6
1 changed files with 7 additions and 13 deletions
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20
src/drivers/vmount/vmount.cpp
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@ -249,7 +249,6 @@ static int vmount_thread_main(int argc, char *argv[])
g_thread_data = &thread_data;
int last_active = 0;
hrt_abstime last_output_update = 0;
while (!thread_should_exit) {
@ -376,21 +375,16 @@ static int vmount_thread_main(int argc, char *argv[])
}
}
hrt_abstime now = hrt_absolute_time();
if (now - last_output_update > 10000) { // rate-limit the update of outputs
last_output_update = now;
//update output
int ret = thread_data.output_obj->update(control_data);
//update output
int ret = thread_data.output_obj->update(control_data);
if (ret) {
PX4_ERR("failed to write output (%i)", ret);
break;
}
thread_data.output_obj->publish();
if (ret) {
PX4_ERR("failed to write output (%i)", ret);
break;
}
thread_data.output_obj->publish();
} else {
//wait for parameter changes. We still need to wake up regularily to check for thread exit requests
usleep(1e6);