From 635bfb6a7b4df37add20af8f5582b23ed992e03d Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sun, 18 Oct 2015 03:55:47 +0300
Subject: [PATCH] CAN driver RX queue reduced to 21 frames per interface;
 poll() timeout set to 3 ms

---
 src/modules/uavcan/uavcan_main.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp
index b91765591d..b236946e24 100644
--- a/src/modules/uavcan/uavcan_main.hpp
+++ b/src/modules/uavcan/uavcan_main.hpp
@@ -80,7 +80,7 @@ class UavcanNode : public device::CDev
 	static constexpr unsigned FramePerSecond     = MaxBitRatePerSec / bitPerFrame;
 	static constexpr unsigned FramePerMSecond    = ((FramePerSecond / 1000) + 1);
 
-	static constexpr unsigned PollTimeoutMs      = 10;
+	static constexpr unsigned PollTimeoutMs      = 3;
 
 	/*
 	 * This memory is reserved for uavcan to use for queuing CAN frames.