From b0a5d431d3fe553f93e3ed7e53ca9e0c973732cc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=96=AF=E4=B8=9CStone?= Date: Wed, 24 Feb 2021 20:28:29 -0600 Subject: [PATCH] optical_flow/thoneflow: update the data timespan --- src/drivers/optical_flow/thoneflow/thoneflow.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/drivers/optical_flow/thoneflow/thoneflow.cpp b/src/drivers/optical_flow/thoneflow/thoneflow.cpp index 9f74b71212..62b6d2160e 100644 --- a/src/drivers/optical_flow/thoneflow/thoneflow.cpp +++ b/src/drivers/optical_flow/thoneflow/thoneflow.cpp @@ -114,7 +114,7 @@ extern "C" __EXPORT int thoneflow_main(int argc, char *argv[]); Thoneflow::Thoneflow(const char *port) : ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)), _rotation(Rotation(0)), - _cycle_interval(15150), + _cycle_interval(10526), _fd(-1), _linebuf_index(0), _parse_state(THONEFLOW_PARSE_STATE0_UNSYNC), @@ -230,7 +230,7 @@ Thoneflow::init() /* Integrated flow is sent at 66fps */ _report.frame_count_since_last_readout = 1; - _report.integration_timespan = 15151; // microseconds + _report.integration_timespan = 10526; // microseconds /* Get a publish handle on the optical flow topic */ _optical_flow_pub = orb_advertise(ORB_ID(optical_flow), &_report);