From 5b302fef59354f536e83a0b14572d2f954a6e682 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 31 Dec 2013 14:47:01 +0100 Subject: [PATCH 1/2] HOTFIX: Increased attitude control updates to 50 Hz - was less than 10 Hz and unintended slow --- src/modules/fw_att_control/fw_att_control_main.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 00a0dcd619..60c902ce53 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -479,7 +479,8 @@ FixedwingAttitudeControl::task_main() /* rate limit vehicle status updates to 5Hz */ orb_set_interval(_vcontrol_mode_sub, 200); - orb_set_interval(_att_sub, 100); + /* rate limit attitude control to 50 Hz (with some margin, so 17 ms) */ + orb_set_interval(_att_sub, 17); parameters_update(); From 1d9e8a7b721685b9290103d82db04f9b0a587d65 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 1 Jan 2014 23:43:23 +0100 Subject: [PATCH 2/2] Reboot if IO update startup fails on first try --- ROMFS/px4fmu_common/init.d/rcS | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 05657b03ef..f122921c56 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -176,7 +176,7 @@ then tone_alarm MBABGP if px4io forceupdate 14662 $io_file then - usleep 200000 + usleep 500000 if px4io start then echo "PX4IO restart OK" @@ -186,7 +186,8 @@ then echo "PX4IO restart failed" echo "PX4IO restart failed" >> $logfile tone_alarm MNGGG - sh /etc/init.d/rc.error + sleep 10 + reboot fi else echo "PX4IO update failed"