From 8838b18da75d6f4354f73b38152c2ca98f9197aa Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 4 Jun 2015 18:53:38 +0200 Subject: [PATCH] FW attitude control: Run attitude controller as fast as we can to minimize latency --- src/modules/fw_att_control/fw_att_control_main.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index c44f29a404..fe27de14f5 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -634,8 +634,9 @@ FixedwingAttitudeControl::task_main() /* rate limit vehicle status updates to 5Hz */ orb_set_interval(_vcontrol_mode_sub, 200); - /* rate limit attitude control to 50 Hz (with some margin, so 17 ms) */ - orb_set_interval(_att_sub, 17); + /* do not limit the attitude updates in order to minimize latency. + * actuator outputs are still limited by the individual drivers + * properly to not saturate IO or physical limitations */ parameters_update();