From fe35f1a34be8c84652e2a3d8160a0c27720abe0b Mon Sep 17 00:00:00 2001
From: mahima-yoga <mahima@auterion.com>
Date: Fri, 17 Oct 2025 13:03:27 +0200
Subject: [PATCH] fw-autotune: run state machine at 50Hz

---
 .../fw_autotune_attitude_control.hpp                          | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp
index 1fa4b278f2..9b63f5ba2b 100644
--- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp
+++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp
@@ -243,6 +243,6 @@ private:
 		(ParamInt<px4::params::FW_AT_SYSID_TYPE>) _param_fw_sysid_signal_type
 	)
 
-	static constexpr float _publishing_dt_s = 100e-3f;
-	static constexpr hrt_abstime _publishing_dt_hrt = 100_ms;
+	static constexpr float _publishing_dt_s = 20e-3f;
+	static constexpr hrt_abstime _publishing_dt_hrt = 20_ms;
 };