From aedb97f38ed137b4a45152df154819745f998e2f Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 10 Oct 2013 12:35:05 +0200 Subject: [PATCH] multirotor_pos_control: run mainloop at 100Hz --- src/modules/multirotor_pos_control/multirotor_pos_control.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 3baebf1ccd..7abeade80e 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -680,8 +680,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */ reset_int_z_manual = control_mode.flag_armed && control_mode.flag_control_manual_enabled && !control_mode.flag_control_climb_rate_enabled; - /* run at approximately 50 Hz */ - usleep(20000); + /* run at approximately 100 Hz */ + usleep(10000); } warnx("stopped");