sensors app: Re-introduce sensor rate limiting

10 years ago · 4143c94029
1 changed files with 3 additions and 0 deletions
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@ -2168,6 +2168,9 @@ Sensors::task_main()
				@@ -2168,6 +2168,9 @@ Sensors::task_main()
 	/* rate limit vehicle status updates to 5Hz */
 	orb_set_interval(_vcontrol_mode_sub, 200);

+	/* rate limit gyro to 250 Hz (the gyro signal is lowpassed accordingly earlier) */
+	orb_set_interval(_gyro_sub, 4);
+
 	/*
 	 * do advertisements
 	 */