From 5affa693f23f30bd9899191556f246a48da0ce2f Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 1 Mar 2022 11:44:49 -0500
Subject: [PATCH] uavcan: increase ESC max rate 200->400 Hz

 - this should run synchronized with the rate controller and can be
limited by IMU_GYRO_RATEMAX
---
 src/drivers/uavcan/actuators/esc.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/drivers/uavcan/actuators/esc.hpp b/src/drivers/uavcan/actuators/esc.hpp
index 99f3ac4ef2..ae97ea140c 100644
--- a/src/drivers/uavcan/actuators/esc.hpp
+++ b/src/drivers/uavcan/actuators/esc.hpp
@@ -58,7 +58,7 @@ class UavcanEscController
 {
 public:
 	static constexpr int MAX_ACTUATORS = esc_status_s::CONNECTED_ESC_MAX;
-	static constexpr unsigned MAX_RATE_HZ = 200;			///< XXX make this configurable
+	static constexpr unsigned MAX_RATE_HZ = 400;
 	static constexpr uint16_t DISARMED_OUTPUT_VALUE = UINT16_MAX;
 
 	static_assert(uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize >= MAX_ACTUATORS, "Too many actuators");