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multirotor_pos_control: run mainloop at 100Hz

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Anton Babushkin
2013-10-10 12:35:05 +02:00
parent b7d8d77c0f
commit aedb97f38e
1 changed files with 2 additions and 2 deletions
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src/modules/multirotor_pos_control/multirotor_pos_control.c
+2 -2
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@@ -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 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; 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 */ /* run at approximately 100 Hz */
usleep(20000); usleep(10000);
} }
warnx("stopped"); warnx("stopped");