From 6791ab72a910b00818026ac60d95d8df20bfa0d3 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 11 Sep 2014 01:06:30 +0200
Subject: [PATCH] Run faster for better accuracy.

---
 src/modules/bottle_drop/bottle_drop.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp
index 128e406191..53071630df 100644
--- a/src/modules/bottle_drop/bottle_drop.cpp
+++ b/src/modules/bottle_drop/bottle_drop.cpp
@@ -463,7 +463,7 @@ BottleDrop::task_main()
 			continue;
 		}
 
-		const unsigned sleeptime_us = 50000;
+		const unsigned sleeptime_us = 9500;
 
 		hrt_abstime last_run = hrt_absolute_time();
 		float dt_runs = sleeptime_us / 1e6f;
@@ -684,7 +684,7 @@ BottleDrop::task_main()
 
 			// update_actuators();
 
-			// run at roughly 20 Hz
+			// run at roughly 100 Hz
 			usleep(sleeptime_us);
 
 			dt_runs = hrt_elapsed_time(&last_run) / 1e6f;