From 5a189f3c4a8b2f599c10d9277f5d11e77c01b367 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 19 Jan 2018 10:43:33 +0100
Subject: [PATCH] vmount mavlink input: rate-limit vehicle_command topic

---
 src/drivers/vmount/input_mavlink.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/drivers/vmount/input_mavlink.cpp b/src/drivers/vmount/input_mavlink.cpp
index 29c205cf50..a8dc521e67 100644
--- a/src/drivers/vmount/input_mavlink.cpp
+++ b/src/drivers/vmount/input_mavlink.cpp
@@ -202,6 +202,11 @@ int InputMavlinkCmdMount::initialize()
 		return -errno;
 	}
 
+	// rate-limit inputs to 100Hz. If we don't do this and the output is configured to mavlink mode,
+	// it will publish vehicle_command's as well, causing the input poll() in here to return
+	// immediately, which in turn will cause an output update and thus a busy loop.
+	orb_set_interval(_vehicle_command_sub, 10);
+
 	return 0;
 }