From dfc216048932bf4c084dda5936cf57e429b1fd14 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Tue, 4 Aug 2020 10:56:15 +0200 Subject: [PATCH] commander: update vehicle_status with at least 2Hz So we're sure it's logged. --- src/modules/commander/Commander.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 6110d70253..d9f1c158f2 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2356,8 +2356,8 @@ Commander::run() _failsafe_old = status.failsafe; } - /* publish states (armed, control_mode, vehicle_status, commander_state, vehicle_status_flags) at 1 Hz or immediately when changed */ - if (hrt_elapsed_time(&status.timestamp) >= 1_s || _status_changed || nav_state_changed) { + /* publish states (armed, control_mode, vehicle_status, commander_state, vehicle_status_flags) at 2 Hz or immediately when changed */ + if (hrt_elapsed_time(&status.timestamp) >= 500_ms || _status_changed || nav_state_changed) { update_control_mode();