From d930ad4e9e50007505ab8d6f8c5e2a4faf8d1b76 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 16 Oct 2017 14:59:49 +0200 Subject: [PATCH] mavlink_orb_subscription: reduce orb_exists() check from 10Hz to 3Hz Checking with 3Hz for new topics should be fast enough. --- src/modules/mavlink/mavlink_orb_subscription.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp index 30bdee6ded..bbb451f7f4 100644 --- a/src/modules/mavlink/mavlink_orb_subscription.cpp +++ b/src/modules/mavlink/mavlink_orb_subscription.cpp @@ -160,10 +160,9 @@ MavlinkOrbSubscription::is_published() return true; } - // Telemetry can sustain an initial published check at 10 Hz hrt_abstime now = hrt_absolute_time(); - if (now - _last_pub_check < 100000) { + if (now - _last_pub_check < 300000) { return false; }