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mavlink: more precise message streams timing

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Anton Babushkin
2014-03-01 19:42:29 +04:00
parent 6948defdb2
commit a1ea89ea2d
3 changed files with 7 additions and 7 deletions
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src/modules/mavlink/mavlink_main.cpp
+4 -4
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@@ -1462,8 +1462,8 @@ MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic)
int
Mavlink::configure_stream(const char *stream_name, const float rate)
{
/* calculate interval in ms, 0 means disabled stream */
unsigned int interval = (rate > 0.0f) ? (1000.0f / rate) : 0;
/* calculate interval in us, 0 means disabled stream */
unsigned int interval = (rate > 0.0f) ? (1000000.0f / rate) : 0;
/* search if stream exists */
MavlinkStream *stream;
@@ -1752,8 +1752,8 @@ Mavlink::task_main(int argc, char *argv[])
/* don't send parameters on startup without request */
_mavlink_param_queue_index = param_count();
MavlinkRateLimiter slow_rate_limiter(2000.0f / rate_mult);
MavlinkRateLimiter fast_rate_limiter(100.0f / rate_mult);
MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult);
MavlinkRateLimiter fast_rate_limiter(100000.0f / rate_mult);
/* set main loop delay depending on data rate to minimize CPU overhead */
_main_loop_delay = MAIN_LOOP_DELAY / rate_mult;