Adjust message publishing rate for quadrotor

tenok-rtos · May 26, 2024 · a80d7b9 · a80d7b9
1 parent 43be5aa
commit a80d7b9
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/user/quadrotor/quadrotor.c b/user/quadrotor/quadrotor.c
@@ -468,7 +468,7 @@ void debug_link_task(void)
     uint8_t buf[100];
     size_t size;
 
-    /* 10Hz */
+    /* 40Hz */
     while (1) {
         msg.q[0] = madgwick_ahrs.q[0];
         msg.q[1] = madgwick_ahrs.q[1];
@@ -479,14 +479,13 @@ void debug_link_task(void)
         msg.rpy[2] = rpy[2];
         size = pack_debug_link_attitude_msg(&msg, buf);
         write(debug_link_fd, buf, size);
-        usleep(50000);
 
         pid_msg.error_rpy[0] = pid_roll.output;
         pid_msg.error_rpy[1] = pid_pitch.output;
         pid_msg.error_rpy[2] = 0.0f;
         size = pack_debug_link_pid_msg(&pid_msg, buf);
         write(debug_link_fd, buf, size);
-        usleep(50000);
+        usleep(25000);
     }
 }