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tap_esc: replaced PWM_DEFAULT_UPDATE_RATE

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alessandro 2018-04-18 09:24:14 +02:00 committed by Beat Küng
parent d7c9f5c101
commit c0efe2db56
1 changed files with 5 additions and 16 deletions
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21
src/drivers/tap_esc/tap_esc.cpp
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@ -72,8 +72,9 @@
# define DEVICE_ARGUMENT_MAX_LENGTH 32
#endif
#if !defined(PWM_DEFAULT_UPDATE_RATE)
# define PWM_DEFAULT_UPDATE_RATE 400
// uorb update rate for control groups in miliseconds
#if !defined(TAP_ESC_CTRL_UORB_UPDATE_INTERVAL)
# define TAP_ESC_CTRL_UORB_UPDATE_INTERVAL 2 // [ms] min: 2, max: 100
#endif
/*
@ -404,22 +405,10 @@ void TAP_ESC::cycle()
_groups_subscribed = _groups_required;
/* Set uorb update rate */
int update_rate_in_ms = int(1000 / PWM_DEFAULT_UPDATE_RATE);
if (update_rate_in_ms < 2) {
/* reject faster than 500 Hz updates */
update_rate_in_ms = 2;
} else if (update_rate_in_ms > 100) {
/* reject slower than 10 Hz updates */
update_rate_in_ms = 100;
}
DEVICE_DEBUG("adjusted actuator update interval to %ums", update_rate_in_ms);
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] >= 0) {
orb_set_interval(_control_subs[i], update_rate_in_ms);
orb_set_interval(_control_subs[i], TAP_ESC_CTRL_UORB_UPDATE_INTERVAL);
DEVICE_DEBUG("New actuator update interval: %ums", TAP_ESC_CTRL_UORB_UPDATE_INTERVAL);
}
}
}