From a80d7b945bec29e5d1fc4f49b220e9270ef7cfad Mon Sep 17 00:00:00 2001 From: Shengwen Cheng Date: Mon, 27 May 2024 00:07:30 +0800 Subject: [PATCH] Adjust message publishing rate for quadrotor --- user/quadrotor/quadrotor.c | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/user/quadrotor/quadrotor.c b/user/quadrotor/quadrotor.c index 457b5f0..c0c1be3 100644 --- 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); } }