From 81a4df0953e738041d9fdc2b2eb353a635f3003b Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 6 Oct 2013 08:44:30 +0200 Subject: [PATCH] sensors: slow down updates rate to 200Hz to free some CPU time --- src/modules/sensors/sensors.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 085da905c6..c9513c0caa 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1541,8 +1541,8 @@ 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); + /* rate limit gyro to 200 Hz (the gyro signal is lowpassed accordingly earlier) */ + orb_set_interval(_gyro_sub, 5); /* * do advertisements